Fundamental reconfiguration theory of chain-type modular reconfigurable mechanisms
Fundamental reconfiguration theory of chain-type modular reconfigurable mechanisms
复制标题
链式模块化可重构机构的重构基础理论
DOI：
10.1016/j.mechmachtheory.2013.08.011
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发表时间：
2013-12-01
影响因子：
5.2
通讯作者：
Lu, Shengnan
中科院分区：
文献类型：
--
作者：
Ding, Xilun;Lu, Shengnan
本文重点研究链式模块化可重构机构的几何约束、运动序列、同构和干涉问题。模块的几何表示是利用Clifford代数来完成的。提出了一种离散运动的新表达方式——“运动序列”，结合运动学指数公式计算各模块的位置和姿态。同时，利用邻接矩阵来识别同构。此外，还研究了一种基于Clifford代数的干扰检测算法，用于运动过程中的干扰检测。最后详细介绍了模块化机构重构的原理。案例研究验证了我们的基本重构理论分析模块化可重构系统的有效性和有效性。 (C) 2013 Elsevier Ltd. 保留所有权利。
This article focuses on the study of geometry constraints, motion sequence, isomorphism and interference issues of the chain-type modular reconfigurable mechanisms. The geometry representation of module is accomplished by employing the Clifford algebra. A new expression of discrete movement-"motion sequence" which is combined with exponential formula for kinematics is proposed to calculate the position and orientation of each module. Meanwhile, isomorphism is identified by using the adjacency matrix. Furthermore, an interference detection algorithm on the basis of Clifford algebra is investigated for interference detection during the movement. Finally, the principle of reconfiguration of modular mechanisms is presented in detail. Case studies are demonstrated to verify the validity and the effectiveness of our fundamental reconfiguration theory to analyze modular reconfigurable systems. (C) 2013 Elsevier Ltd. All rights reserved.