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Joint-gene based variable topological representations and configuration transformations
Li SJ(李树军); Zhang YL(张艳丽); Song, Yang; Wang HG(王洪光)
作者部门机器人学研究室
会议名称2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR 2009
会议日期June 22-24, 2009
会议地点London
会议主办者IEEE
会议录名称2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR 2009
出版者ACM IEEE
出版地NEW YORK
2009
页码348-354
收录类别EI ; CPCI(ISTP)
EI收录号20094612456109
WOS记录号WOS:000284979900051
产权排序1
ISBN号978-88-89007-37-2
关键词Metamorphic Mechanism Joint-gene Modular Variable Topological Reconfiguration
摘要"Joint-gene" concept is introduced as "changeable structural elements" in metamorphic mechanisms comparing with the gene in biology. The joint-gene based variable topological representation is proposed, and the method and procedures for the configuration transformations are presented based on the topological representation. First, the joint-gene modules, which have 4 non-zero elements square matrix, are proposed. Then a n x n topological characteristic matrix of kinematic chain is assembled by joint-gene modules according to the connectivity of the joints and links. Thirdly, a joint-gene locking modular is hence proposed for locking one of the joint or to delete one connected links while metamorphic, and finally the connectivity of deleted link are transferred to form the reconfigured topological matrix. The paper further gives examples to illustrate that the proposed joint-gene based topological representation providing more structural information with fewer elements, and it can be used in the computerized configuration transformations of planar and spatial mechanism with efficiency and practicality.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20035
专题机器人学研究室
通讯作者Li SJ(李树军)
作者单位1.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning 110004, China
2.Shenyang Institute of Aeronautical Engineering, Shenyang, Liaoning 110034, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, Liaoning 110016, China
推荐引用方式
GB/T 7714
Li SJ,Zhang YL,Song, Yang,et al. Joint-gene based variable topological representations and configuration transformations[C]//IEEE. NEW YORK:ACM IEEE,2009:348-354.
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