Topological Representation and Operation of Motion Space Exchange Reconfiguration of Metamorphic Mechanisms

  • Shujun LiEmail author
  • Hongguang Wang
  • Jiansheng Dai
  • Xiaopeng Li
  • Zhaohui Ren
  • Shichao Xiu
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


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.


Motion 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 ).


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Shujun Li
    • 1
    • 2
    Email author
  • Hongguang Wang
    • 2
  • Jiansheng Dai
    • 3
  • Xiaopeng Li
    • 1
  • Zhaohui Ren
    • 1
  • Shichao Xiu
    • 1
  1. 1.College of Mechanical Engineering and AutomationNortheastern UniversityShenyangChina
  2. 2. Key Laboratory of Robotics of ChinaShenyangChina
  3. 3.King’s College LondonUniversity of LondonLondon UK

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