Detection of Isomorphism of Kinematic Chains Using two DOF Using CSJV Matrix
Abstract Identification of isomorphism among the kinematic chains and their derived mechanisms have broad area of research work for previous some decades. An advance approach for generalization of kinematic chains uses identical links but disparate kinematic joint. in present work, utilizing the lin...
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| Autor*in: |
Ahamad, Sayeed [verfasserIn] Khan, Sabah [verfasserIn] Mohammad, Aas [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2024 |
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| Schlagwörter: |
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| Anmerkung: |
© The Institution of Engineers (India) 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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| Übergeordnetes Werk: |
Enthalten in: Journal of the Institution of Engineers (India) - Springer India, 2012, 105(2024), 2 vom: 27. Jan., Seite 313-326 |
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| Übergeordnetes Werk: |
volume:105 ; year:2024 ; number:2 ; day:27 ; month:01 ; pages:313-326 |
| Links: |
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| DOI / URN: |
10.1007/s40032-023-01013-z |
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SPR055672027 |
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| 520 | |a Abstract Identification of isomorphism among the kinematic chains and their derived mechanisms have broad area of research work for previous some decades. An advance approach for generalization of kinematic chains uses identical links but disparate kinematic joint. in present work, utilizing the link–link type of transformed matrix (TM) and components of matrix has been selected as one and zero depending on the presence or absence of a relation in between the revolute joints. We detected the kinematic chains applying same link and sliding pair and all turning pairs and identify the isomorphism, but must be distinct. To reduce this problem, we try to improve disparate set of matrices called Sum of Cube of Joint Value Matrix (SCJVM), that is joint–joint types of matrices are used. In this paper, an approach based on Bocher’s formula is presented to identify all isomorphism and distinct mechanisms with different links and tests for two degrees of freedom. The suggested method was examined based on various problems from 5 & 7-links and two degrees of freedom. All solutions have been ascertained satisfactory results with prevailing literature. The CSJV matrix is capable to differentiate the type of kinematic pairs (pin joints) between two links. These characteristic or peculiarity polynomials are also capable to identify isomorphism having simple jointed kinematic chains, multiple or poly jointed kinematic chains and furthermore kinematic chains with co-spectral graphs. The expression of peculiarity polynomial expression can potentially convey certain characteristics and properties of mechanisms. Utilizations of five-bar kinematic chains like robotics linkages find applications across a wide spectrum of areas, spanning from prosthetic limbs to tactile response systems. This design has been examined in various tactile feedback devices to provide overall force sensations. Seven-bar linkages possess two degrees of freedom, making it suitable for various machines that require variable paths of motion. | ||
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| 700 | 1 | |a Khan, Sabah |e verfasserin |4 aut | |
| 700 | 1 | |a Mohammad, Aas |e verfasserin |4 aut | |
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10.1007/s40032-023-01013-z doi (DE-627)SPR055672027 (SPR)s40032-023-01013-z-e DE-627 ger DE-627 rakwb eng 620 690 VZ Ahamad, Sayeed verfasserin (orcid)0009-0008-8293-3854 aut Detection of Isomorphism of Kinematic Chains Using two DOF Using CSJV Matrix 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Institution of Engineers (India) 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract Identification of isomorphism among the kinematic chains and their derived mechanisms have broad area of research work for previous some decades. An advance approach for generalization of kinematic chains uses identical links but disparate kinematic joint. in present work, utilizing the link–link type of transformed matrix (TM) and components of matrix has been selected as one and zero depending on the presence or absence of a relation in between the revolute joints. We detected the kinematic chains applying same link and sliding pair and all turning pairs and identify the isomorphism, but must be distinct. To reduce this problem, we try to improve disparate set of matrices called Sum of Cube of Joint Value Matrix (SCJVM), that is joint–joint types of matrices are used. In this paper, an approach based on Bocher’s formula is presented to identify all isomorphism and distinct mechanisms with different links and tests for two degrees of freedom. The suggested method was examined based on various problems from 5 & 7-links and two degrees of freedom. All solutions have been ascertained satisfactory results with prevailing literature. The CSJV matrix is capable to differentiate the type of kinematic pairs (pin joints) between two links. These characteristic or peculiarity polynomials are also capable to identify isomorphism having simple jointed kinematic chains, multiple or poly jointed kinematic chains and furthermore kinematic chains with co-spectral graphs. The expression of peculiarity polynomial expression can potentially convey certain characteristics and properties of mechanisms. Utilizations of five-bar kinematic chains like robotics linkages find applications across a wide spectrum of areas, spanning from prosthetic limbs to tactile response systems. This design has been examined in various tactile feedback devices to provide overall force sensations. Seven-bar linkages possess two degrees of freedom, making it suitable for various machines that require variable paths of motion. Isomorphism (dpeaa)DE-He213 Kinematic chain (dpeaa)DE-He213 Structural invariants (dpeaa)DE-He213 SCJVM and Kinematic pair (dpeaa)DE-He213 Khan, Sabah verfasserin aut Mohammad, Aas verfasserin aut Enthalten in Journal of the Institution of Engineers (India) Springer India, 2012 105(2024), 2 vom: 27. Jan., Seite 313-326 (DE-627)722236999 (DE-600)2677589-X 2250-0553 nnns volume:105 year:2024 number:2 day:27 month:01 pages:313-326 https://dx.doi.org/10.1007/s40032-023-01013-z X:SPRINGER Resolving-System lizenzpflichtig Volltext SYSFLAG_0 GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 105 2024 2 27 01 313-326 |
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10.1007/s40032-023-01013-z doi (DE-627)SPR055672027 (SPR)s40032-023-01013-z-e DE-627 ger DE-627 rakwb eng 620 690 VZ Ahamad, Sayeed verfasserin (orcid)0009-0008-8293-3854 aut Detection of Isomorphism of Kinematic Chains Using two DOF Using CSJV Matrix 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Institution of Engineers (India) 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract Identification of isomorphism among the kinematic chains and their derived mechanisms have broad area of research work for previous some decades. An advance approach for generalization of kinematic chains uses identical links but disparate kinematic joint. in present work, utilizing the link–link type of transformed matrix (TM) and components of matrix has been selected as one and zero depending on the presence or absence of a relation in between the revolute joints. We detected the kinematic chains applying same link and sliding pair and all turning pairs and identify the isomorphism, but must be distinct. To reduce this problem, we try to improve disparate set of matrices called Sum of Cube of Joint Value Matrix (SCJVM), that is joint–joint types of matrices are used. In this paper, an approach based on Bocher’s formula is presented to identify all isomorphism and distinct mechanisms with different links and tests for two degrees of freedom. The suggested method was examined based on various problems from 5 & 7-links and two degrees of freedom. All solutions have been ascertained satisfactory results with prevailing literature. The CSJV matrix is capable to differentiate the type of kinematic pairs (pin joints) between two links. These characteristic or peculiarity polynomials are also capable to identify isomorphism having simple jointed kinematic chains, multiple or poly jointed kinematic chains and furthermore kinematic chains with co-spectral graphs. The expression of peculiarity polynomial expression can potentially convey certain characteristics and properties of mechanisms. Utilizations of five-bar kinematic chains like robotics linkages find applications across a wide spectrum of areas, spanning from prosthetic limbs to tactile response systems. This design has been examined in various tactile feedback devices to provide overall force sensations. Seven-bar linkages possess two degrees of freedom, making it suitable for various machines that require variable paths of motion. Isomorphism (dpeaa)DE-He213 Kinematic chain (dpeaa)DE-He213 Structural invariants (dpeaa)DE-He213 SCJVM and Kinematic pair (dpeaa)DE-He213 Khan, Sabah verfasserin aut Mohammad, Aas verfasserin aut Enthalten in Journal of the Institution of Engineers (India) Springer India, 2012 105(2024), 2 vom: 27. Jan., Seite 313-326 (DE-627)722236999 (DE-600)2677589-X 2250-0553 nnns volume:105 year:2024 number:2 day:27 month:01 pages:313-326 https://dx.doi.org/10.1007/s40032-023-01013-z X:SPRINGER Resolving-System lizenzpflichtig Volltext SYSFLAG_0 GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 105 2024 2 27 01 313-326 |
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10.1007/s40032-023-01013-z doi (DE-627)SPR055672027 (SPR)s40032-023-01013-z-e DE-627 ger DE-627 rakwb eng 620 690 VZ Ahamad, Sayeed verfasserin (orcid)0009-0008-8293-3854 aut Detection of Isomorphism of Kinematic Chains Using two DOF Using CSJV Matrix 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Institution of Engineers (India) 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract Identification of isomorphism among the kinematic chains and their derived mechanisms have broad area of research work for previous some decades. An advance approach for generalization of kinematic chains uses identical links but disparate kinematic joint. in present work, utilizing the link–link type of transformed matrix (TM) and components of matrix has been selected as one and zero depending on the presence or absence of a relation in between the revolute joints. We detected the kinematic chains applying same link and sliding pair and all turning pairs and identify the isomorphism, but must be distinct. To reduce this problem, we try to improve disparate set of matrices called Sum of Cube of Joint Value Matrix (SCJVM), that is joint–joint types of matrices are used. In this paper, an approach based on Bocher’s formula is presented to identify all isomorphism and distinct mechanisms with different links and tests for two degrees of freedom. The suggested method was examined based on various problems from 5 & 7-links and two degrees of freedom. All solutions have been ascertained satisfactory results with prevailing literature. The CSJV matrix is capable to differentiate the type of kinematic pairs (pin joints) between two links. These characteristic or peculiarity polynomials are also capable to identify isomorphism having simple jointed kinematic chains, multiple or poly jointed kinematic chains and furthermore kinematic chains with co-spectral graphs. The expression of peculiarity polynomial expression can potentially convey certain characteristics and properties of mechanisms. Utilizations of five-bar kinematic chains like robotics linkages find applications across a wide spectrum of areas, spanning from prosthetic limbs to tactile response systems. This design has been examined in various tactile feedback devices to provide overall force sensations. Seven-bar linkages possess two degrees of freedom, making it suitable for various machines that require variable paths of motion. Isomorphism (dpeaa)DE-He213 Kinematic chain (dpeaa)DE-He213 Structural invariants (dpeaa)DE-He213 SCJVM and Kinematic pair (dpeaa)DE-He213 Khan, Sabah verfasserin aut Mohammad, Aas verfasserin aut Enthalten in Journal of the Institution of Engineers (India) Springer India, 2012 105(2024), 2 vom: 27. Jan., Seite 313-326 (DE-627)722236999 (DE-600)2677589-X 2250-0553 nnns volume:105 year:2024 number:2 day:27 month:01 pages:313-326 https://dx.doi.org/10.1007/s40032-023-01013-z X:SPRINGER Resolving-System lizenzpflichtig Volltext SYSFLAG_0 GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 105 2024 2 27 01 313-326 |
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10.1007/s40032-023-01013-z doi (DE-627)SPR055672027 (SPR)s40032-023-01013-z-e DE-627 ger DE-627 rakwb eng 620 690 VZ Ahamad, Sayeed verfasserin (orcid)0009-0008-8293-3854 aut Detection of Isomorphism of Kinematic Chains Using two DOF Using CSJV Matrix 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Institution of Engineers (India) 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract Identification of isomorphism among the kinematic chains and their derived mechanisms have broad area of research work for previous some decades. An advance approach for generalization of kinematic chains uses identical links but disparate kinematic joint. in present work, utilizing the link–link type of transformed matrix (TM) and components of matrix has been selected as one and zero depending on the presence or absence of a relation in between the revolute joints. We detected the kinematic chains applying same link and sliding pair and all turning pairs and identify the isomorphism, but must be distinct. To reduce this problem, we try to improve disparate set of matrices called Sum of Cube of Joint Value Matrix (SCJVM), that is joint–joint types of matrices are used. In this paper, an approach based on Bocher’s formula is presented to identify all isomorphism and distinct mechanisms with different links and tests for two degrees of freedom. The suggested method was examined based on various problems from 5 & 7-links and two degrees of freedom. All solutions have been ascertained satisfactory results with prevailing literature. The CSJV matrix is capable to differentiate the type of kinematic pairs (pin joints) between two links. These characteristic or peculiarity polynomials are also capable to identify isomorphism having simple jointed kinematic chains, multiple or poly jointed kinematic chains and furthermore kinematic chains with co-spectral graphs. The expression of peculiarity polynomial expression can potentially convey certain characteristics and properties of mechanisms. Utilizations of five-bar kinematic chains like robotics linkages find applications across a wide spectrum of areas, spanning from prosthetic limbs to tactile response systems. This design has been examined in various tactile feedback devices to provide overall force sensations. Seven-bar linkages possess two degrees of freedom, making it suitable for various machines that require variable paths of motion. Isomorphism (dpeaa)DE-He213 Kinematic chain (dpeaa)DE-He213 Structural invariants (dpeaa)DE-He213 SCJVM and Kinematic pair (dpeaa)DE-He213 Khan, Sabah verfasserin aut Mohammad, Aas verfasserin aut Enthalten in Journal of the Institution of Engineers (India) Springer India, 2012 105(2024), 2 vom: 27. Jan., Seite 313-326 (DE-627)722236999 (DE-600)2677589-X 2250-0553 nnns volume:105 year:2024 number:2 day:27 month:01 pages:313-326 https://dx.doi.org/10.1007/s40032-023-01013-z X:SPRINGER Resolving-System lizenzpflichtig Volltext SYSFLAG_0 GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 105 2024 2 27 01 313-326 |
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10.1007/s40032-023-01013-z doi (DE-627)SPR055672027 (SPR)s40032-023-01013-z-e DE-627 ger DE-627 rakwb eng 620 690 VZ Ahamad, Sayeed verfasserin (orcid)0009-0008-8293-3854 aut Detection of Isomorphism of Kinematic Chains Using two DOF Using CSJV Matrix 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Institution of Engineers (India) 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract Identification of isomorphism among the kinematic chains and their derived mechanisms have broad area of research work for previous some decades. An advance approach for generalization of kinematic chains uses identical links but disparate kinematic joint. in present work, utilizing the link–link type of transformed matrix (TM) and components of matrix has been selected as one and zero depending on the presence or absence of a relation in between the revolute joints. We detected the kinematic chains applying same link and sliding pair and all turning pairs and identify the isomorphism, but must be distinct. To reduce this problem, we try to improve disparate set of matrices called Sum of Cube of Joint Value Matrix (SCJVM), that is joint–joint types of matrices are used. In this paper, an approach based on Bocher’s formula is presented to identify all isomorphism and distinct mechanisms with different links and tests for two degrees of freedom. The suggested method was examined based on various problems from 5 & 7-links and two degrees of freedom. All solutions have been ascertained satisfactory results with prevailing literature. The CSJV matrix is capable to differentiate the type of kinematic pairs (pin joints) between two links. These characteristic or peculiarity polynomials are also capable to identify isomorphism having simple jointed kinematic chains, multiple or poly jointed kinematic chains and furthermore kinematic chains with co-spectral graphs. The expression of peculiarity polynomial expression can potentially convey certain characteristics and properties of mechanisms. Utilizations of five-bar kinematic chains like robotics linkages find applications across a wide spectrum of areas, spanning from prosthetic limbs to tactile response systems. This design has been examined in various tactile feedback devices to provide overall force sensations. Seven-bar linkages possess two degrees of freedom, making it suitable for various machines that require variable paths of motion. Isomorphism (dpeaa)DE-He213 Kinematic chain (dpeaa)DE-He213 Structural invariants (dpeaa)DE-He213 SCJVM and Kinematic pair (dpeaa)DE-He213 Khan, Sabah verfasserin aut Mohammad, Aas verfasserin aut Enthalten in Journal of the Institution of Engineers (India) Springer India, 2012 105(2024), 2 vom: 27. Jan., Seite 313-326 (DE-627)722236999 (DE-600)2677589-X 2250-0553 nnns volume:105 year:2024 number:2 day:27 month:01 pages:313-326 https://dx.doi.org/10.1007/s40032-023-01013-z X:SPRINGER Resolving-System lizenzpflichtig Volltext SYSFLAG_0 GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 105 2024 2 27 01 313-326 |
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Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract Identification of isomorphism among the kinematic chains and their derived mechanisms have broad area of research work for previous some decades. An advance approach for generalization of kinematic chains uses identical links but disparate kinematic joint. in present work, utilizing the link–link type of transformed matrix (TM) and components of matrix has been selected as one and zero depending on the presence or absence of a relation in between the revolute joints. We detected the kinematic chains applying same link and sliding pair and all turning pairs and identify the isomorphism, but must be distinct. To reduce this problem, we try to improve disparate set of matrices called Sum of Cube of Joint Value Matrix (SCJVM), that is joint–joint types of matrices are used. In this paper, an approach based on Bocher’s formula is presented to identify all isomorphism and distinct mechanisms with different links and tests for two degrees of freedom. The suggested method was examined based on various problems from 5 & 7-links and two degrees of freedom. All solutions have been ascertained satisfactory results with prevailing literature. The CSJV matrix is capable to differentiate the type of kinematic pairs (pin joints) between two links. These characteristic or peculiarity polynomials are also capable to identify isomorphism having simple jointed kinematic chains, multiple or poly jointed kinematic chains and furthermore kinematic chains with co-spectral graphs. The expression of peculiarity polynomial expression can potentially convey certain characteristics and properties of mechanisms. Utilizations of five-bar kinematic chains like robotics linkages find applications across a wide spectrum of areas, spanning from prosthetic limbs to tactile response systems. This design has been examined in various tactile feedback devices to provide overall force sensations. Seven-bar linkages possess two degrees of freedom, making it suitable for various machines that require variable paths of motion.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Isomorphism</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Kinematic chain</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Structural invariants</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">SCJVM and Kinematic pair</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Khan, Sabah</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Mohammad, Aas</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">Journal of the Institution of Engineers (India)</subfield><subfield code="d">Springer India, 2012</subfield><subfield code="g">105(2024), 2 vom: 27. 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Ahamad, Sayeed |
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Ahamad, Sayeed ddc 620 misc Isomorphism misc Kinematic chain misc Structural invariants misc SCJVM and Kinematic pair Detection of Isomorphism of Kinematic Chains Using two DOF Using CSJV Matrix |
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620 690 VZ Detection of Isomorphism of Kinematic Chains Using two DOF Using CSJV Matrix Isomorphism (dpeaa)DE-He213 Kinematic chain (dpeaa)DE-He213 Structural invariants (dpeaa)DE-He213 SCJVM and Kinematic pair (dpeaa)DE-He213 |
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ddc 620 misc Isomorphism misc Kinematic chain misc Structural invariants misc SCJVM and Kinematic pair |
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ddc 620 misc Isomorphism misc Kinematic chain misc Structural invariants misc SCJVM and Kinematic pair |
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Detection of Isomorphism of Kinematic Chains Using two DOF Using CSJV Matrix |
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detection of isomorphism of kinematic chains using two dof using csjv matrix |
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Detection of Isomorphism of Kinematic Chains Using two DOF Using CSJV Matrix |
| abstract |
Abstract Identification of isomorphism among the kinematic chains and their derived mechanisms have broad area of research work for previous some decades. An advance approach for generalization of kinematic chains uses identical links but disparate kinematic joint. in present work, utilizing the link–link type of transformed matrix (TM) and components of matrix has been selected as one and zero depending on the presence or absence of a relation in between the revolute joints. We detected the kinematic chains applying same link and sliding pair and all turning pairs and identify the isomorphism, but must be distinct. To reduce this problem, we try to improve disparate set of matrices called Sum of Cube of Joint Value Matrix (SCJVM), that is joint–joint types of matrices are used. In this paper, an approach based on Bocher’s formula is presented to identify all isomorphism and distinct mechanisms with different links and tests for two degrees of freedom. The suggested method was examined based on various problems from 5 & 7-links and two degrees of freedom. All solutions have been ascertained satisfactory results with prevailing literature. The CSJV matrix is capable to differentiate the type of kinematic pairs (pin joints) between two links. These characteristic or peculiarity polynomials are also capable to identify isomorphism having simple jointed kinematic chains, multiple or poly jointed kinematic chains and furthermore kinematic chains with co-spectral graphs. The expression of peculiarity polynomial expression can potentially convey certain characteristics and properties of mechanisms. Utilizations of five-bar kinematic chains like robotics linkages find applications across a wide spectrum of areas, spanning from prosthetic limbs to tactile response systems. This design has been examined in various tactile feedback devices to provide overall force sensations. Seven-bar linkages possess two degrees of freedom, making it suitable for various machines that require variable paths of motion. © The Institution of Engineers (India) 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
| abstractGer |
Abstract Identification of isomorphism among the kinematic chains and their derived mechanisms have broad area of research work for previous some decades. An advance approach for generalization of kinematic chains uses identical links but disparate kinematic joint. in present work, utilizing the link–link type of transformed matrix (TM) and components of matrix has been selected as one and zero depending on the presence or absence of a relation in between the revolute joints. We detected the kinematic chains applying same link and sliding pair and all turning pairs and identify the isomorphism, but must be distinct. To reduce this problem, we try to improve disparate set of matrices called Sum of Cube of Joint Value Matrix (SCJVM), that is joint–joint types of matrices are used. In this paper, an approach based on Bocher’s formula is presented to identify all isomorphism and distinct mechanisms with different links and tests for two degrees of freedom. The suggested method was examined based on various problems from 5 & 7-links and two degrees of freedom. All solutions have been ascertained satisfactory results with prevailing literature. The CSJV matrix is capable to differentiate the type of kinematic pairs (pin joints) between two links. These characteristic or peculiarity polynomials are also capable to identify isomorphism having simple jointed kinematic chains, multiple or poly jointed kinematic chains and furthermore kinematic chains with co-spectral graphs. The expression of peculiarity polynomial expression can potentially convey certain characteristics and properties of mechanisms. Utilizations of five-bar kinematic chains like robotics linkages find applications across a wide spectrum of areas, spanning from prosthetic limbs to tactile response systems. This design has been examined in various tactile feedback devices to provide overall force sensations. Seven-bar linkages possess two degrees of freedom, making it suitable for various machines that require variable paths of motion. © The Institution of Engineers (India) 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
| abstract_unstemmed |
Abstract Identification of isomorphism among the kinematic chains and their derived mechanisms have broad area of research work for previous some decades. An advance approach for generalization of kinematic chains uses identical links but disparate kinematic joint. in present work, utilizing the link–link type of transformed matrix (TM) and components of matrix has been selected as one and zero depending on the presence or absence of a relation in between the revolute joints. We detected the kinematic chains applying same link and sliding pair and all turning pairs and identify the isomorphism, but must be distinct. To reduce this problem, we try to improve disparate set of matrices called Sum of Cube of Joint Value Matrix (SCJVM), that is joint–joint types of matrices are used. In this paper, an approach based on Bocher’s formula is presented to identify all isomorphism and distinct mechanisms with different links and tests for two degrees of freedom. The suggested method was examined based on various problems from 5 & 7-links and two degrees of freedom. All solutions have been ascertained satisfactory results with prevailing literature. The CSJV matrix is capable to differentiate the type of kinematic pairs (pin joints) between two links. These characteristic or peculiarity polynomials are also capable to identify isomorphism having simple jointed kinematic chains, multiple or poly jointed kinematic chains and furthermore kinematic chains with co-spectral graphs. The expression of peculiarity polynomial expression can potentially convey certain characteristics and properties of mechanisms. Utilizations of five-bar kinematic chains like robotics linkages find applications across a wide spectrum of areas, spanning from prosthetic limbs to tactile response systems. This design has been examined in various tactile feedback devices to provide overall force sensations. Seven-bar linkages possess two degrees of freedom, making it suitable for various machines that require variable paths of motion. © The Institution of Engineers (India) 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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| title_short |
Detection of Isomorphism of Kinematic Chains Using two DOF Using CSJV Matrix |
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https://dx.doi.org/10.1007/s40032-023-01013-z |
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Khan, Sabah Mohammad, Aas |
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Khan, Sabah Mohammad, Aas |
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10.1007/s40032-023-01013-z |
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| score |
7.3981857 |