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Assur-Group Inferred Structural Synthesis for Planar Mechanisms
Li SJ(李树军); Wang HG(王洪光); Dai JS(戴建生)
Department空间自动化技术研究室
Source PublicationJournal of Mechanisms and Robotics
ISSN1942-4302
2015
Volume7Issue:4Pages:1-9
Indexed BySCI ; EI
EI Accession number20151300685828
WOS IDWOS:000362844000001
Contribution Rank1
AbstractIn order to obtain a comprehensive list of possible mechanisms with various choices of both R and P pairs and mechanism inversion of planar mechanisms, a new structural synthesis method is developed by integrating Assur groups (AGs) as elements in the newly developed group-based adjacency matrix. This extended adjacency matrix is proposed with the diagonal elements representing three fundamental elements as the frame link, driving link, AG and augmented AG (AAG) if metamorphic mechanisms are to be synthesized. The off-diagonal elements provide information on group combination and connection forms of the above three fundamental elements and that on the associated kinematic pairs. Based on the extended adjacency matrix, all assembly modes for the given AGs can be established and isomorphism mechanisms can be identified at the same time. Considering all types of the AGs in the extended adjacency matrix, group permutation and combination are used and connection forms are generated including variation of the driving link and mechanism inversion. The structural synthesis is then extending to generating a comprehensive list of types of mechanisms and illustrated by the synthesis for class II 6-bar planar mechanisms with both R and P pairs, generating a list of 588 types of mechanisms that are derived for the first time. The paper further applies the approach to metamorphic mechanisms, and obtained five connection forms of the 7-bar 2DOF metamorphic mechanisms.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Mechanical ; Robotics
WOS KeywordKINEMATIC CHAINS ; JOINTS ; ISOMORPHISM
WOS Research AreaEngineering ; Robotics
Citation statistics
Cited Times:7[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/16184
Collection空间自动化技术研究室
Corresponding AuthorLi SJ(李树军)
Affiliation1.College of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Center for Advanced Mechanisms and Robotics, MOE Key Laboratory for Mechanism Theory and Equipment Design, Tianjin University, Tianjin, China
4.Center for Robotics Research, King's College, University of London, Strand, London, United Kingdom
Recommended Citation
GB/T 7714
Li SJ,Wang HG,Dai JS. Assur-Group Inferred Structural Synthesis for Planar Mechanisms[J]. Journal of Mechanisms and Robotics,2015,7(4):1-9.
APA Li SJ,Wang HG,&Dai JS.(2015).Assur-Group Inferred Structural Synthesis for Planar Mechanisms.Journal of Mechanisms and Robotics,7(4),1-9.
MLA Li SJ,et al."Assur-Group Inferred Structural Synthesis for Planar Mechanisms".Journal of Mechanisms and Robotics 7.4(2015):1-9.
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