Block Adjacency Matrix Method for Analyzing the Configuration Transformations of Metamorphic Parallel Mechanisms

Duanling Li, Chunxia Li, Zhonghai Zhang, Xianwen Kong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Metamorphic transformation is a fundamental and key issue in the design and analysis of metamorphic mechanisms. It is tedious to represent and calculate the metamorphic transformations of metamorphic parallel mechanisms using the existing adjacency matrix method. To simplify the configuration transformation analysis, we propose a new method based on block adjacency matrix to analyze the configuration transformations of metamorphic parallel mechanisms. A block adjacency matrix is composed of three types of elements, including limb matrices that are adjacency matrices each representing a limb of a metamorphic parallel mechanism, row matrices each representing how a limb is connected to the moving platform, and column matrices each representing how a limb is connected to the base. Manipulations of the block adjacency matrix for analyzing the metamorphic transformations are presented systematically. If only the internal configuration of a limb changes, the configuration transformations can be obtained by simply calculating the corresponding limb matrix. A 3-URRRR metamorphic parallel mechanism, which has five configurations including a 1-DOF translation configuration and a 3-DOF spherical motion configuration, is taken as an example to illustrate the effectiveness of the proposed approach to the metamorphic transformation analysis of metamorphic parallel mechanism.

Original languageEnglish
Title of host publicationASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
Number of pages9
Volume5A
ISBN (Electronic)9780791846360
DOIs
Publication statusPublished - 2014
Event38th Mechanisms and Robotics Conference 2014 - Buffalo, United States
Duration: 17 Aug 201420 Aug 2014

Conference

Conference38th Mechanisms and Robotics Conference 2014
CountryUnited States
CityBuffalo
Period17/08/1420/08/14

Keywords

  • Block adjacency matrix
  • Metamorphic parallel mechanism
  • Metamorphic transformation

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Fingerprint Dive into the research topics of 'Block Adjacency Matrix Method for Analyzing the Configuration Transformations of Metamorphic Parallel Mechanisms'. Together they form a unique fingerprint.

  • Cite this

    Li, D., Li, C., Zhang, Z., & Kong, X. (2014). Block Adjacency Matrix Method for Analyzing the Configuration Transformations of Metamorphic Parallel Mechanisms. In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (Vol. 5A). [DETC2014-34850] American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2014-34850