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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)
Department机器人学研究室
Conference Name2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR 2009
Conference DateJune 22-24, 2009
Conference PlaceLondon
Author of SourceIEEE
Source Publication2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR 2009
PublisherACM IEEE
Publication PlaceNEW YORK
2009
Pages348-354
Indexed ByEI ; CPCI(ISTP)
EI Accession number20094612456109
WOS IDWOS:000284979900051
Contribution Rank1
ISBN978-88-89007-37-2
KeywordMetamorphic Mechanism Joint-gene Modular Variable Topological Reconfiguration
Abstract"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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20035
Collection机器人学研究室
Corresponding AuthorLi SJ(李树军)
Affiliation1.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
Recommended Citation
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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