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RESEARCH PAPERS

On the Mobility and Configuration Singularity of Mechanisms With Variable Topologies

[+] Author and Article Information
Chin-Hsing Kuo

Department of Mechanical Engineering, National Cheng Kung University, 1, University Road, Tainan 70101, Taiwan, R.O.C.chkuo717@yahoo.com.tw

Hong-Sen Yan1

Department of Mechanical Engineering, National Cheng Kung University, 1, University Road, Tainan 70101, Taiwan, R.O.C.hsyan@mail.ncku.edu.tw

1

Corresponding author.

J. Mech. Des 129(6), 617-624 (May 17, 2006) (8 pages) doi:10.1115/1.2717230 History: Received February 16, 2006; Revised May 17, 2006

The mechanisms with variable topologies (MVTs) are usually changing their topological structures in accordance with the varying mobility and quasi-singular configurations. The mobility analysis and configuration singularity of MVTs are studied via screw theory in this paper. The configurations of MVTs are formulated by a set of variable combinations of screw coordinates. For the mobility analysis, two examples provided show that the proposed approach is adoptable for dealing with common MVTs. For the configuration singularity, the concepts of stationary configuration and uncertainty configuration are utilized to demonstrate the topology varying strategy of MVTs. The result in this work provides the theoretical basis and inspiration for the configuration synthesis and analysis of mechanisms with variable topologies.

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Copyright © 2007 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Operation concept of the one step push-button stopper lock with variable passwords

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Figure 2

Graph representation of the one step push-button stopper lock with variable passwords

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Figure 3

A three-link MVT with closed loop

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Figure 4

Screw coordinates of the three-link MVT at each mechanism configuration

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Figure 5

A PSPS kinematotropic chain (8)

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Figure 6

Screw Systems of the PSPS kinematotropic chain

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Figure 7

Organizations of screw systems of the one step push-button stopper lock

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Figure 8

Modified graphs of the one step push-button stopper lock

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Figure 9

The general PSPS linkage

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Figure 10

The equivalent MVT graphs of the PSPS kinematotropic linkage

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Figure 11

An example of PRPR chains with different stationary configurations

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