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Lu Y.,Yanshan University | Wang Y.,Hebei United University | Lu Y.,Harbin Electrical Corporation QHD | Ye N.,Harbin Electrical Corporation QHD
Robotica | Year: 2015

This paper focuses on the derivation of valid contracted graphs (CGs) with ternary links T and quaternary links Q using characteristic strings for type synthesis of parallel mechanisms. First, some concepts on the associated linkage, the CGs, and characteristic strings are explained, and the numbers of vertices and edges for constructing CGs with T and Q are solved. Second, the relative criteria are determined for representing CGs with T and Q and identifying their isomorphism using characteristic strings. Third, some simple CGs with T and Q are represented by the characteristic strings and their isomorphic/invalid CGs are identified. Finally, many complex, valid CGs with T and Q are derived by characteristic strings. © 2014 Cambridge University Press. Source


Lu Y.,Yanshan University | Huang H.,Yanshan University | Lu Y.,Harbin Electrical Corporation QHD | Ye N.,Harbin Electrical Corporation QHD
Journal of Mechanisms and Robotics | Year: 2013

A method for autogeneration/draw of valid arrays and contracted graphs by cad is studied in this paper. First, the concepts and relative new criteria of arrays and contracted graphs (CGs) are explained for the representation/generation of the CGs and the identification of the isomorphic/invalid CGs using the arrays. Second, a software is created in Visual Basic for automatically generating the arrays of the CGs with pentagonal links, identifying the isomorphic/invalid arrays, generating the valid arrays, and automatically drawing their CGs. Third, the interface of the software and the main functions of the compiled programs are explained. Finally, some examples are given to illustrate this software and method. © 2013 by ASME. Source

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