A Matrix Representation and Motion Space Exchange Metamorphic Operation

Shu Jun Li; Jian Sheng Dai

doi:10.4028/www.scientific.net/AMR.308-310.2058

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 308-310A Matrix Representation and Motion Space Exchange...

A Matrix Representation and Motion Space Exchange Metamorphic Operation

Abstract:

The paper presents a matrix representation of mechanical chains based on proposed joint-axis matrix, and a matrix operation of joints orientation change metamorphic processes. A four elements joint-axis matrix with joints types and orientations is developed first, and an augmented adjacency matrix of kinematic chains is formed by adding the elements of joint-axis matrix into the corresponding positions of general adjacency matrix of kinematic chains. Then the matrix operation of metamorphic process is performed through changing the orientation of metamorphic joint of augmented planar mechanism to transform the configuration of the mechanism from planar to spatial one.

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Periodical:

Advanced Materials Research (Volumes 308-310)

Pages:

2058-2061

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.308-310.2058

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Online since:

August 2011

Authors:

Shu Jun Li, Jian Sheng Dai

Keywords:

Metamorphic Operation, Orientation Exchange, Topological Representation

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