Abstract
Abstract. Metamorphic mechanisms belong to the class of mechanisms that are able to change their configurations sequentially to meet different requirements. In this paper, a holographic matrix representation for describing the topological structure of metamorphic mechanisms was proposed. The matrix includes the adjacency matrix, incidence matrix, links attribute and kinematic pairs attribute. Then, the expanded holographic matrix is introduced, which includes driving link, frame link and the identifier of the configurations. Furthermore, a matrix representation of an original metamorphic mechanism is proposed, which has the ability to evolve into various sub-configurations. And evolutionary relationships between mechanisms in sub-configurations and the original metamorphic mechanism are determined distinctly. Examples are provided to demonstrate the validation of the method.
Highlights
Compared with the traditional mechanisms which usually have fixed mobility, metamorphic mechanisms are a multitopological structure, in terms of economy, adaptability and efficiency, and prevails the traditional ones
The variation mode of metamorphic mechanism has been added to variable attribute of components, variable orientation of kinematic joints, friction self-locking joint units (Gan et al, 2009, 2010; Zhang et al, 2013; Ding and Li, 2015; Ye et al, 2016)
The paper introduces a holographic matrix method to describe the topological structure of metamorphic mechanism in all configurations, which relate to the information such as the attributes of links, joints, frame links and driving links
Summary
Compared with the traditional mechanisms which usually have fixed mobility, metamorphic mechanisms are a multitopological structure, in terms of economy, adaptability and efficiency, and prevails the traditional ones. The paper introduces a holographic matrix method to describe the topological structure of metamorphic mechanism in all configurations, which relate to the information such as the attributes of links, joints, frame links and driving links. The adjacency matrix method and the incidence matrix method describe the matrix operation of the configuration transformation in metamorphic mechanisms clearly and they are beneficial to the realization of computer automation. It cannot fully express the size structure, kinematic pairs and other information. This paper introduces a holographic matrix representation for describing the topological structure of metamorphic mechanisms. The structural description of the metamorphic mechanism is an important part of kinematics and dynamics analysis
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