A method based on Baranov Trusses, and using graph theory to find the set of planar jointed kinematic chains and mechanisms

Abstract This paper describes a new method of linkage census, based on the transforming of Baranov Trusses into planar kinematic chain using an idea called “graphization”, denoted by the symbol (G). The chains obtained are kinematic chains with multiple joints and simple links, denoted as (KCmjsl). Next, using “dyad amplification” (DA), one can obtain other KCmjsl with a greater number of links though they have still the same number of degrees of freedom (L). By another operation — the simplifying of joints (JS) — one then obtains planar kinematic Chains with simple joints. (called KCsj), and subsequently planar jointed mechanisms (PJM), and also planar jointed Driving Mechanisms (DM), as they exist in the Technology of Mechanism Design.