Structural Representation of Reconfigurable Linkages

摘要：

This paper presents adjacency matrix originated three-dimensional matrix for structural representation of mechanisms by integrating binary string in the sense of displacement subgroup theory. The improved elementary matrix operation for expressing of topological transformation of metamorphic mechanism is integrated in the threedimensional matrix representation. A novel reconfigurable eight-bar linkage employing variableaxis revolute joints is proposed and the threedimensional matrix for each working phase is expressed to reveal the distinct geometry. The improved elementary matrix operation is used to express the topological transformation of a metamorphic eight-bar linkage and to identify the effectiveness of the operation.

关键词： Variable-axis revolute joint Three-dimensional matrix Binary string Reconfigurable linkage

作者: Ketao Zhang Yuefa Fang Guowu Wei Jian S. Dai

作者单位: Centre for Robotics Research, Kings College London, University of London,Strand, London WC2R 2LS, U Department of Mechanical Engineering, Beijing Jiaotong University,Beijing 100044, Peoples Republic Centre for Robotics Research, Kings College London, University of London,Strand, London WC2R 2LS, U

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 127-137

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）