A Method for Configuration Representation of Metamorphic Mechanisms with Information of Component Variation
The metamorphic mechanism has the characteristics of multi-configuration, variable constraints, and multifunction. For achieving the variation characteristics of the topological structures in different configurations and the coupling relations intuitively during the process of configuration transformation, a novel comprehensive symbolic matrix for representing the topological structures of the metamorphic mechanism is proposed. The information including variation of components, the relative joint orientations is involved in this new adjacency matrix. The variation characteristics and coupling features of the metamorphic mechanism can be obtained by the generalized operations including intersection and difference on the corresponding symbolic matrices.
Configuration representation Component variation Metamorphic mechanisms
Wuxiang Zhang Xilun Ding
Robotics Institute, Beijing University of Aeronautics and Astronautics,Beijing, P.R. China
国际会议
天津
英文
13-24
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）