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Title: :  GRADING OF KINEMATIC CHAINS ON THE BASIS OF SYMMETRY
PaperId: :  8979
Published in:   International Journal Of Advance Research And Innovative Ideas In Education
Publisher:   IJARIIE
e-ISSN:   2395-4396
Volume/Issue:    Volume 4 Issue 4 2018
DUI:    16.0415/IJARIIE-8979
Licence: :   IJARIIE is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

Author NameAuthor Institute
CHANDRA SHEKHAR SAHUShri Shankaracharya Institute of Technology and Management Bhilai, Chhattisgarh, India
Arvind Kumar ShuklaGuru Govind Singh Educational Society’s Technical campus Bokaro, Jharkhand, India
Ashok Kumar SharmaShri Shankaracharya Institute of Technology and Management Bhilai, Chhattisgarh, India

Abstract

Mechanical Engineering
Kinematic chains, symmetry, mechanisms, first gradient total value, second order total value
An attempt has been made to reveal the characteristics of kinematic chains on the basis of topology. Isomorphism, inversions, symmetry, angular velocity, angular acceleration and jerk can be determined with the help of gradient concept and chains can be graded on the basis of all the above said characteristics of kinematic chains but in this paper chains are graded on the basis of symmetry. Concept is applied in this paper for 6-link one degree of freedom kinematic chains though it is also useful in 8-link, 10-link and 12-link for all known families of kinematic chains i.e. single degree of freedom, multi degree of freedom and graded them on the basis of symmetry. Kinematic chains are directly used for writing the distance matrix. First gradient and second gradient matrices are formed, on the basis of first order gradient matrix first gradient link values and first gradient total value can be determined. Similarly on the basis of second order gradient matrix second gradient link values and second gradient total value can be determined. In this paper second order gradient matrix is used to grade the kinematic chains on the basis of symmetry which discloses flow of magnitude of relative angular acceleration. This concept has great potential and can be used to study symmetry and parallelism which are useful in structural synthesis and platform-type robots respectively.

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IJARIIE CHANDRA SHEKHAR SAHU, Arvind Kumar Shukla, and Ashok Kumar Sharma. "GRADING OF KINEMATIC CHAINS ON THE BASIS OF SYMMETRY" International Journal Of Advance Research And Innovative Ideas In Education Volume 4 Issue 4 2018 Page 973-990
MLA CHANDRA SHEKHAR SAHU, Arvind Kumar Shukla, and Ashok Kumar Sharma. "GRADING OF KINEMATIC CHAINS ON THE BASIS OF SYMMETRY." International Journal Of Advance Research And Innovative Ideas In Education 4.4(2018) : 973-990.
APA CHANDRA SHEKHAR SAHU, Arvind Kumar Shukla, & Ashok Kumar Sharma. (2018). GRADING OF KINEMATIC CHAINS ON THE BASIS OF SYMMETRY. International Journal Of Advance Research And Innovative Ideas In Education, 4(4), 973-990.
Chicago CHANDRA SHEKHAR SAHU, Arvind Kumar Shukla, and Ashok Kumar Sharma. "GRADING OF KINEMATIC CHAINS ON THE BASIS OF SYMMETRY." International Journal Of Advance Research And Innovative Ideas In Education 4, no. 4 (2018) : 973-990.
Oxford CHANDRA SHEKHAR SAHU, Arvind Kumar Shukla, and Ashok Kumar Sharma. 'GRADING OF KINEMATIC CHAINS ON THE BASIS OF SYMMETRY', International Journal Of Advance Research And Innovative Ideas In Education, vol. 4, no. 4, 2018, p. 973-990. Available from IJARIIE, http://ijariie.com/AdminUploadPdf/GRADING_OF_KINEMATIC_CHAINS_ON_THE_BASIS_OF_SYMMETRY_ijariie8979.pdf (Accessed : ).
Harvard CHANDRA SHEKHAR SAHU, Arvind Kumar Shukla, and Ashok Kumar Sharma. (2018) 'GRADING OF KINEMATIC CHAINS ON THE BASIS OF SYMMETRY', International Journal Of Advance Research And Innovative Ideas In Education, 4(4), pp. 973-990IJARIIE [Online]. Available at: http://ijariie.com/AdminUploadPdf/GRADING_OF_KINEMATIC_CHAINS_ON_THE_BASIS_OF_SYMMETRY_ijariie8979.pdf (Accessed : )
IEEE CHANDRA SHEKHAR SAHU, Arvind Kumar Shukla, and Ashok Kumar Sharma, "GRADING OF KINEMATIC CHAINS ON THE BASIS OF SYMMETRY," International Journal Of Advance Research And Innovative Ideas In Education, vol. 4, no. 4, pp. 973-990, Jul-Aug 2018. [Online]. Available: http://ijariie.com/AdminUploadPdf/GRADING_OF_KINEMATIC_CHAINS_ON_THE_BASIS_OF_SYMMETRY_ijariie8979.pdf [Accessed : ].
Turabian CHANDRA SHEKHAR SAHU, Arvind Kumar Shukla, and Ashok Kumar Sharma. "GRADING OF KINEMATIC CHAINS ON THE BASIS OF SYMMETRY." International Journal Of Advance Research And Innovative Ideas In Education [Online]. volume 4 number 4 ().
Vancouver CHANDRA SHEKHAR SAHU, Arvind Kumar Shukla, and Ashok Kumar Sharma. GRADING OF KINEMATIC CHAINS ON THE BASIS OF SYMMETRY. International Journal Of Advance Research And Innovative Ideas In Education [Internet]. 2018 [Cited : ]; 4(4) : 973-990. Available from: http://ijariie.com/AdminUploadPdf/GRADING_OF_KINEMATIC_CHAINS_ON_THE_BASIS_OF_SYMMETRY_ijariie8979.pdf
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