Abstract The automatic sketching of kinematic chains (KCs) is an important part of the conceptual design of mechanisms, which is useful for the creative design of mechanisms. In this paper, a novel algorithm for automatic sketching of planar KCs with multiple joints was proposed based on joint-joint adjacent matrix (JJAM). Firstly, the standardization rules of JJAM were introduced, and the loops of planar KCs were extracted from the JJAM using breadth-first search algorithm (BFS). Further, the breadth-first spanning tree of the planar KCs was drawn by minimum crossing rules. Meanwhile, the rules of drawing structure diagram of a single link in JJAM were presented. Moreover, graphical joint-joint adjacent matrix (GJJAM) implying structure diagram between joints was expressed. This matrix was transformed into a graphical joint-joint adjacent matrix of planar KCs by matching structure diagram of the single link. This method has several advantageous features resulting in lower complexity relative to the methods presented in literatures. Finally, the examples demonstrate that the method is novel, efficient and convenient.

中文翻译：

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一种用于多关节运动链自动绘制的新型图形关节-关节相邻矩阵方法

摘要 运动链（KCs）的自动绘制是机构概念设计的重要组成部分，有助于机构的创造性设计。在本文中，提出了一种基于关节-关节相邻矩阵（JJAM）的多关节平面 KC 自动绘制新算法。首先介绍了JJAM的标准化规则，利用广度优先搜索算法(BFS)从JJAM中提取出平面KCs的循环。此外，平面KCs的广度优先生成树是通过最小交叉规则绘制的。同时，给出了JJAM中单个链接结构图的绘制规则。此外，图形关节-关节相邻矩阵（GJJAM）暗示了关节之间的结构图。通过匹配单个链接的结构图，将该矩阵转换为平面 KCs 的图形关节-关节相邻矩阵。该方法具有几个优点，与文献中介绍的方法相比，其复杂性较低。最后通过实例证明该方法新颖、高效、方便。