A method for number enumeration of planar mechanisms in robotics
Résumé
The research presented in this paper deals with the development of a new method for morphological number enumeration for planar pin-jointed driving mechanisms. It is based on geometrical symmetries of kinematic chains and combinatorial analysis. Pairs of groups of mutually symmetrical mechanisms are detected. The restricting criteria are the position of: the frame, the end-effector and the actuators (motors) of the robot. Different cases of symmetries for planar pin-jointed mechanisms are addressed. Thus, new expressions for calculating the number of the different possibilities for positions of the frame, the end-effector and the actuators in a mechanism issued from a kinematic chain are presented. These help to reduce the number of the possible solutions by avoiding those that are isomorphic. Some examples for industrial robots applications are presented.