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Topology and Constraint Analysis of Reconfiguration in Metamorphic Mechanisms

[+] Author Affiliations
Ketao Zhang

King’s College London, Univeristy of London, London, UK; Beijing Jiaotong University, Beijing, China

Jian S. Dai

King’s College London, Univeristy of London, London, UK

Yuefa Fang

Beijing Jiaotong University, Beijing, China

Zi-Qiang Zhu

University of Sheffield, Sheffield, UK

Paper No. DETC2010-28434, pp. 1689-1698; 10 pages
  • 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


This paper investigates the reconfiguration of the metamorphic mechanisms and proposes mechanism topology matrix, phase matrix and augmented adjacency matrix to identify variation of geometric and topological configurations. This is then used to investigate the two generic ways in the study of induced constraint change of the metamorphic mechanisms. The topological phase change of the metamorphic mechanisms correlative to the variable-axis revolute joints and link annex is hence investigated and constraint analysis is then presented in the working phases of the new metamorphic mechanisms.

Copyright © 2010 by ASME
Topics: Topology , Mechanisms



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