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

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Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 15))

Abstract

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.

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Acknowledgments

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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Authors and Affiliations

  1. College of Mechanical Engineering and Automation, Northeastern University, Laboratory of Robotics of China, Shenyang, 110004 , China

    Shujun Li, Xiaopeng Li, Zhaohui Ren & Shichao Xiu

  2. Key Laboratory of Robotics of China, Shenyang, 110016 , China

    Shujun Li & Hongguang Wang

  3. King’s College London, University of London, London , WC2R 2LS, UK

    Jiansheng Dai

Authors
  1. Shujun Li
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  2. Hongguang Wang
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  3. Jiansheng Dai
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  4. Xiaopeng Li
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  5. Zhaohui Ren
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  6. Shichao Xiu
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Corresponding author

Correspondence to Shujun Li .

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Editors and Affiliations

  1. Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

    Federico Thomas

  2. Mechanical Engineering, Idaho State University, Pocatello, Idaho, USA

    Alba Perez Gracia

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Li, S., Wang, H., Dai, J., Li, X., Ren, Z., Xiu, S. (2014). Topological Representation and Operation of Motion Space Exchange Reconfiguration of Metamorphic Mechanisms. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_4

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  • DOI: https://doi.org/10.1007/978-94-007-7214-4_4

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7213-7

  • Online ISBN: 978-94-007-7214-4

  • eBook Packages: EngineeringEngineering (R0)

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