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Development of Planar Mechanism State Matrices for Reconfigurable Mechanisms

[+] Author Affiliations
Brian J. Slaboch, Philip A. Voglewede

Marquette University, Milwaukee, WI

Paper No. DETC2010-28108, pp. 763-769; 7 pages
doi:10.1115/DETC2010-28108
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

This paper introduces mechanism state matrices as a novel way to represent the topological characteristics of planar reconfigurable mechanisms. As part of this new concept, these matrices will be used as an analysis tool to automatically determine the degrees of freedom (DOF) of planar mechanisms that only contain one DOF joints. The DOF at each state can be combined with a mechanism state matrix to form an augmented mechanism state matrix. A series of examples will be used to illustrate the proposed concept.

Copyright © 2010 by ASME
Topics: Mechanisms

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