Systematization of open, serial kinematic chains with three degrees of freedom
Year: 2025
Type: article
Abstract: This paper presents a systematization of kinematic chains with three degrees of freedom, consisting of revolute and/or prismatic pairs with orthogonal or parallel axes. The kinematic chains are classified into groups based on the orientation of the axes. Chains within each group are organized in tables. To simplify notation and facilitate referencing individual chains, multiple chains, or entire groups, a designation method based on group membership is introduced. In each group, base chains are selected arbitrarily. This method demonstrates that any base chain can be transformed into other chains within its subgroup by a single rotation, forming a subgroup of identical chains that differ only in spatial orientation. Quaternions are used to represent these rotations. Out of a total of 216 chains, 40 subgroups of identical chains are selected. Additionally, by altering the rotation angle of the second kinematic pair and thus changing the orientation of the second and third links, the number of identical chain subgroups is further reduced to 36.
Source: Mechanism and Machine Theory
Author: M. Boryga
Institution: University of Life Sciences in Lublin
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $4,060
OpenAlex ID: W4409784645