On the Matrix Representation Methods for Variable Topology Mechanisms

摘要：

Mechanism with variable topologies (MVTs) can change its topological structure because the kinematic types of certain joints are changeable during operation process. This work reviews and discusses the matrix methods for the representation and analysis of the topological structures of MVTs. First, we study several matrix representation methods for MVTs and compare their characteristics. Accordingly, these methods are classified into two different types based on the existence of joint types recorded. Furthermore, we discuss the applications of these methods for the structural decomposition and the topological homomorphism identification of MVTs. Last, we summarize the current limitations of the matrix representation methods for MVTs for future studies.

关键词： Reconfigurable mechanisms Mechanisms with variable topologies Matrix representation Configuration decomposition Topological homomorphism

作者: Lung-Yu Chang Chin-Hsing Kuo

作者单位: Department of Mechanical Engineering, Nation Taiwan University of Science and Technology, 43, Sect. Department of Mechanical Engineering,Nation Taiwan University of Science and Technology, 43, Sect. 4

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: 73-81

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）