Automatic Generation of N-Bar Planar Linkages Containing Sliders

In this work, a generalized algorithm is introduced to generate all alternatives of planar N-bar kinematic chains (KCs) with simple joints containing sliders. A simple graphical technique is introduced to enumerate all available N-bar chains with prismatic (P) joints. Then, a new topological Loop Code (TLC) is presented to detect isomorphic chains during the enumeration process in addition to detecting rejected KCs. A visual C++ code is developed for automatic enumeration and detection of rejected KCs and isomorphic KCs. Examples of 6, 8, and 10-bar KCs are presented to illustrate algorithm procedures. As a result, 21, 16, and 1350 KCs have P-joints for Stephenson, Watt, and 8-bar chains, respectively. Also, 308 KCs are obtained for a 10-bar KC with up to 3 sliders.