Structure Types Synthesis of Multiloop Spatial Kinematic Chains With General Variable Constraints

A systematic procedure is presented for the structure type synthesis of multiloop spatial kinematic chains with general variable constraints in this paper. The parameters and the structure types of the contracted graphs and the branch chains used to synthesize such kinematic chains are given for kinematic chains with up to four independent loops. The assignments for the constraints values of all the loops in a kinematic chain are discussed. Using these as the basis, the structure types of the multiloop spatial kinematic chains with hybrid constraints could be synthesized.