A Novel Index for the Rating of Kinematic Chains Using Residual Chain Index Value

Volume 12 Issue 1 August - October 2016

Research Paper

A Novel Index for the Rating of Kinematic Chains Using Residual Chain Index Value

Sreenivasa Reddy M.*, K. Mallikarjuna Rao**, A.B. Srinivasa Rao***

* Ph.D Scholar, College of Engineering, JNTUK, Kakinada, Andhra Pradesh, India.

** Professor, Department of Mechanical Engineering, College of Engineering, JNTUK, Kakinada, Andhra Pradesh, India.

*** Principal, Sri Vasavi Institute of Engineering and Technology, Nandamuru, Andhra Pradesh, India.

Reddy, M. S., Rao, K. M., and Rao , A. B. S. (2016). A Novel Index for the Rating of Kinematic Chains Using Residual Chain Index Value. i-manager’s Journal on Future Engineering and Technology, 12(1), 36-45. https://doi.org/10.26634/jfet.12.1.8212

Abstract

In the analysis of kinematic chains for various industrial applications, especially Robotics and Automation, it is necessary to rank the various kinematic chains based on its capability in transmitting the input energy towards optimizing the energy resources. In this paper a new parameter, 'Residual Chain Index' (RCI) is proposed to compare the chains, which have same energy transfer capacity with respect to link, joint and loop assortment. The Residual Chain index is easy to calculate and based on the effect of each link over the entire chain. Ranking for a chain is based on the value of energy transfer with respect to link, joint, loop assortments and residual chain index. Analysis has been carried out on all possible distinct kinematic chains with 10 links and 3-degree of freedom. Out of 98 distinct chains formed in this case, fifteen (15) different groups have been identified such that, chains belonging to each group have same value of link, joint and loop assortment energy transfer capacities. There are 43 chains belonging to these 15 groups. RCI obtained for 43 chains and results are presented in this paper.