TABLE OF CONTENTS

Declaration i
Certificate ii
Acknowledgement iii
Abstract iv
List of Figures v
1. INTRODUCTION 1
1.1 Kinematic chains and mechanisms 1
1.2 Representation of Kinematic chains 2
1.3 Motivation 5
2. LITERATURE REVIEW 6
2.1 Literature overview 12
3. PROBLEM STATEMENT AND OBJECTIVES 14
4. METHODOLOGY 15
4.1 Degrees of Freedom 15
4.2 Test for fractionated degree of freedom 16
4.3 Test for partial degree of freedom 18
5. FLOWCHART 19
6. PSEUDO CODE 21
6.1 Importing Libraries 21
6.2 Creating Adjacency Matrix 21
6.3 Test for fractionated degree of freedom 22
6.4 Test for partial degree of freedom 23
6.5 Test for Full degree of freedom 24
7. RESULTS AND DISCUSSIONS 25
8. CONCLUSIONS AND FUTURE WORK 31
9. REFERENCE 32
 LIST OF FIGURES

1.1 Eight Link chain 1

1.2 a) Structural representation 3

1.2 b) Graphical representation 3

1.3 a) Structural representation of 14 link 4

1.3 b) Graphical representation of 14 link 4

1.4 Matrix representation of chain 4

2.1 Four bar one degree of freedom chain 7

2.2 Fourteen linked kinematic mechanism in which shaded shapes 9

and lines represent the mechanical components while circles

represent the connections among them.

2.3 It represents a graphical representation of a fourteen linked kinematic chain. 9

2.4 Adjacency matrix representation of Figure 2.3 kinematic chain 10

2.5 Loop connectivity matrix(LOCM) 11

4.1 Nine Link kinematic Chain 17

5.1 Flowchart for Identification of types of degree of freedom 19

6.1 Importing numpy library 21

6.2 Creating Adjacency matrix 22

6.3 Test for fractionated degree of freedom 23

6.4 Test for partial degree of freedom 24

6.5 Test for full degree of freedom 24

7.1 Nine link Fractionated chain with DOF 2 25

7.2 Output for Figure 7.1 kinematic chain 26

7.3 Seven link kinematic chain with DOF 2 26

7.4 Output for Figure 7.3 kinematic chain 27

7.5 Fourteen link kinematic chain with DOF 1 27

7.6 Output for Figure 7.5 kinematic chain 28

7.7: Eight link kinematic chain with DOF 3 29

7.8: Output for Figure 7.7 kinematic chain 29

7.9: Nine link kinematic chain with DOF 2 30

7.10: Output for Figure 7.9 kinematic chain 30