The use of finite symmetry groups to enumerate basic kinematic chains has been extended by making use of the subgroup structure of the symmetry groups. This refinement not only makes the enumeration of kinematic chains considerably more efficient, but also permits the enumeration of all distinct inversions of each of the chains found. As examples, all chains with 2, 3, 4, and 5 independent loops and 1, 2, or 3 degrees of freedom and their inversions have been found on a personal computer.

This content is only available via PDF.
You do not currently have access to this content.