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The paper proposes the structural synthesis method for generation of closed kinematic chains with all the possible kinds of multiple joints according to the given number K- independent loops up to the maximum multiple joint factor Vmax(K). Firstly, the structural synthesis method of non-fractionated and fractionated multiple joint kinematic chains based on the combination of corresponding simple and multiple joints is presented. Secondly, the atlas database with all the possible kinds of multiple joints containing various 3 (case K = 2) and 9 (case K = 3) multiple joint non-fractionated and fractionated structures is established and illustrated. Thirdly, all the possible multiple joint assortments ([M.J.A.]) for non-fractionated as well as fractionated multiple joint kinematic chains up to K = 3 and Vmax = 4 are synthesized and revealed for the first time. Finally, the structural analysis of multiple joint kinematic chains with the maximum total multiple joint factor for industrial applications in robotics is performed.

Structural synthesis and analysis of multiple-jointed mechanical systems and industrial application for robot manipulator