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Technical Briefs

Representation of Topological Changes in Metamorphic Mechanisms With Matrices of the Same Dimension

[+] Author and Article Information
Z. H. Lan

College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian 350002, China

R. Du

Institute of Precision Engineering, Chinese University of Hong Kong, Shatin, N.T., Hong Kong, China

J. Mech. Des 130(7), 074501 (May 20, 2008) (4 pages) doi:10.1115/1.2918917 History: Received July 27, 2007; Revised December 11, 2007; Published May 20, 2008

This short paper introduces a new adjacency matrix to represent the topological changes of metamorphic mechanisms. An element “1” is introduced to indicate the frozen kinematic pairs, which gives an easy way to represent the transformation and the dimension of the adjacency matrix is kept unchanged after the transformation. In this way, the information of the original mechanism is preserved and all possible changes of the mechanism can be derived according to the adjacency matrix. A demonstration example is included.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

Illustration of five-bar spherical metamorphic mechanism

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Figure 2

The configuration when a five-bar linkage configuration changes to a four-bar linkage configuration

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Figure 3

Illustration of a planar linkage mechanism with five links

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Figure 4

Configuration 1 of the example

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Figure 5

Configuration 2 of the example

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Figure 6

Configuration 3 of the example

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Figure 7

Configuration 4 of the example

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Figure 8

Configuration 5 of the example

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Figure 9

Metamorphic mechanism with two configurations

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Figure 10

Metamorphic mechanism with Link 4 blocked by pin P2

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Figure 11

Metamorphic mechanism with Link 4 blocked by pin P1

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