Topological representations and characteristics of variable kinematic joints
Topological representations and characteristics of variable kinematic joints
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DOI：
10.1115/1.2166854
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发表时间：
2006-03-01
影响因子：
3.3
通讯作者：
Kuo, CH
中科院分区：
文献类型：
--
作者：
Yan, HS;Kuo, CH
存在一些具有可变拓扑结构的机构，它们有着有趣的应用，例如，有腿的步行机器、机械按钮止动锁以及各种玩具。可变运动副是一种在具有可变拓扑结构的机构中能够进行拓扑变化的运动副。这项工作旨在对可变运动副进行拓扑表示和特性分析。在机构的运行过程中，可变运动副的拓扑状态可以用符号表示为关节序列，用图形表示为有向图，用数学表示为矩阵。通过图论的应用，证明了可变运动副的拓扑特性表现为可逆性、连续性、自由度的可变性、关节同态性、可收缩性和可扩展性。提供了两个例子来说明如何利用所提出的概念来分析和综合可变关节。这项工作的结果为具有可变拓扑结构的运动副和机构的系统结构综合提供了逻辑基础。
There exist some mechanisms with variable topologies that have interesting applications, for examples, legged walking machines, mechanical push-button stopper locks, and various. toys. A variable kinematic joint is a kinematic joint that is capable of topological variation in a mechanism with variable topology. This work aims at the topological representations and characteristic analysis of variable kinematic joints. During the operation process of a mechanism, the topology states of a variable kinematic joint can be expressed symbolically as the joint sequences, graphically the digraphs, and mathematically the matrices. With the applications of graph theory, it proves that the topological characteristics of variable kinematic joints appeared with the abilities of reversibility, continuity, variability of degrees of freedom, joint homomorphism, contractibility, and expansibility. Two examples are provided for illustrating how the proposed concepts can be used to analyze and synthesize the variable joints. The results of this work provide a logical foundation for the systematic structural synthesis regarding the kinematic joints and mechanisms with variable topologies.