A computational method for synthesis of baranov truss from simple jointed kinematic chains

The structural synthesis of Baranov trusses is an open problem even though it finds its wide usage in design and analysis of mechanisms and robotics. A Baranov truss is a planar zero DOF kinematic chain, which contains no rigid subchains. The present work aims at synthesising the complete collection of N - link Baranov trusses by adding a binary link to (N – 1) - link, 1 degree of freedom (DoF) simple jointed kinematic chains. From this collection, chains which contain degenerate sub-chains are identified and removed as they are not Baranov truss by definition. Next, an isomorphism test is carried out to identify distinct chains and resulting complete collection of N-link Baranov trusses is reported.