Topological Representation and Operation of Motion Space Exchange Reconfiguration of Metamorphic Mechanisms
The paper presents a topological representation of mechanical chains based on proposed joint-axis matrix based on our previous study, and motion space exchange reconfiguration metamorphic processes of multi-loop mechanisms are operated by the matrix. The matrix operations of metamorphic process are performed by replacing the joint of planar mechanisms with passive mobility joint to form the passive mobility mechanisms firstly, and then changing the orientation of metamorphic joint of the passive mobility planar mechanisms to transform the configuration of the mechanisms from planar to spatial one. The matrix operations of 8-link multi-loop mechanism are illustrated to show the motion space exchange reconfiguration processes.
KeywordsMotion space reconfiguration Matrix metamorphic operation Augmented adjacency matrix
The authors would like to acknowledge the financial support of the National Natural Science Foundation of China (NSFC) (Grant NO. 51175069) and State Key Laboratory of Robotics of China (2012-O16 ).
- 2.Parise, J.J., Howell, L.L., Magleby, S.P.: Ortho-planar mechanisms. In: Proceedings 26th Biennial Mechanisms and Robotics Conference Writing (2000)Google Scholar
- 4.Liu, C.H., Yang, T.L.: Essence and characteristics of metamorphic mechanisms and their metamorphic ways. In: Proceedings 11th World Congress in Mechanism and Machine Science, Writing, pp. 1285–1288 (2004)Google Scholar
- 9.Li, S.J., Dai, J.S.: A Matrix representation and motion space exchange metamorphic operation. Appl. Mech. Mater. Writ. 308–310, 2058–2061 (2011)Google Scholar