担当区分：筆頭著者,　責任著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.14953/jjsde.2024.3038

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担当区分：筆頭著者,　責任著者   記述言語：日本語   掲載種別：学位論文（博士）  

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：MDPI AG  

Prime structures are link chains with 0 DoF (degrees of freedom), not including subchains with 0 or fewer DoF, which are expected to be used in systematic kinematic and dynamic analyses of link mechanisms. This paper describes the exhaustive enumeration of spatial prime structures with three–five links. There will be more types of spatial prime structures than planar prime structures due to the variety in the DoF of kinematic pairs and the existence of prime structures with idle DoF. In the enumeration, the graphs which represent the connection of links and pairs are used. The vertices of the graphs represent the links of structures, and the edges represent the kinematic pairs. To consider the pair DoF, weights are set on edges. First, the numbers of pairs are calculated using Grübler’s equation. Second, the graphs corresponding to structures are enumerated, without considering pair DoF, and the isomorphic graphs and other inappropriate graphs are eliminated. Then, the combinations of pair DoF arrangement are enumerated, and the isomorphic graphs and graphs which correspond to non-prime structures are eliminated. Finally, prime structures with idle DoF are considered. As a result, 3, 13, and 97 kinds of spatial prime structures for 3, 4, and 5 links, respectively, are obtained.

DOI： 10.3390/machines12080529

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記述言語：英語   掲載種別：研究発表ペーパー・要旨（国際会議）  

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記述言語：英語   会議種別：口頭発表（一般）  

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記述言語：日本語   会議種別：口頭発表（一般）  

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出願番号：特願2018-3986  出願日：2018年1月

公開番号：特開2019-122506  公開日：2019年7月

特許番号/登録番号：特許第7053000号  登録日：2022年4月  発行日：2022年4月

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