An improved approach to automatic sketching of planar kinematic chain from its adjacent matrix is proposed in this paper. The basic loops of the graph, which correspond to the adjacent matrix of kinematic chain, are derived by means of breadth-first spanning tree, then these loops are standardized and configured according to some steps. Finally, the graph of kinematic chain is automatically sketched in terms of the configured loops. In addition, the comparison between the proposed approach and existing ones is made. Through some application examples, its effectiveness as well as completeness is verified, the corresponding computer prototype system is also implemented.

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