Restrictive structural synthesis of planar linkages in robotics by logical equation notion
Résumé
This paper deals with a new method for restrictive structural synthesis of planar link chains usually applied in robotic conceptual design. It is based on the notion of logical equations. These latter permit the synthesis of planar chains with various degrees of complexity by associating Modular Structural Groups of types A and closed chains of types G. Various levels of abstraction are investigated concerning the structural number. A method for description of chains by contours and molecules is also proposed. It permits the classification of topological robot structures taking into account their complexity, this later being expressed by the number of closed loops in their molecules. This method is then applied for the description of chains thus obtained, and for the description of the main structure of industrial robots, with closed planar chains, during the initial phase of their conceptual design.