Configuration synthesis of mechanisms with variable topologies

Yan, Hong‐Sen; Kang, Changeon

doi:10.1016/j.mechmachtheory.2008.06.006

Cited by 57 publications

(32 citation statements)

References 27 publications

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“…However, given the advances in the last century, principally, the analysis and synthesis of mechanisms, the computer-aided design (CAD) systems, and the techniques for rapid prototyping, researchers and inventors have started to conceive and study linkages whose geometrical elements, measures, and/or relations can vary in some state of their operation. These kinematic chains are called reconfigurable linkages, a current main trend in mechanisms and machine science as evidenced by the multiple references that can be found in the literature since the mid-1990s-see, for instance, Zhang et al, 11 Yan and Kang, 12 Li and Dai, 13 and the references therein.…”

Section: Introductionmentioning

confidence: 99%

On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

Nansai

Rojas

Elara

et al. 2015

Advances in Mechanical Engineering

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Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This article reports the design of a novel reconfigurable Theo Jansen linkage that produces a wide variety of gait cycles, opening new possibilities for innovative applications. The suggested mechanism switches from a pin-jointed Grübler kinematic chain to a 5-degree-of-freedom mechanism with slider joints during the reconfiguration process. It is shown that such reconfigurable linkage significantly extend the capabilities of the original design, while maintaining its mechanical simplicity during normal operation, to not only produce different useful gait patterns but also to realize behaviors beyond locomotion. Experiments with an implemented prototype are presented, and their results validate the proposed approach.

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Section: Introductionmentioning

confidence: 99%

On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

Nansai

Rojas

Elara

et al. 2015

Advances in Mechanical Engineering

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“…On the basis of the representation of variable kinematic joints, graphs, and finite state machine, he proposed a methodology for the configuration synthesis of mechanisms with variable chains. Furthermore, Yan and Kang [15] expressed the topology states of variable kinematic joints symbolically as joint sequences, graphically as digraphs, and mathematically as matrices, thereby providing a logical foundation for the systematic structural synthesis regarding the kinematic joints and mechanisms with variable topologies. They further proposed a design methodology subject to topological constraints, coordinate sequence of motion characteristics, and mobility criterion.…”

Section: Originality Of Origami Mechanismsmentioning

confidence: 99%

Recent development on innovation design of reconfigurable mechanisms in China

Zhang

Ding

2018

Front. Mech. Eng.

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Reconfigurable mechanisms can deliberately reconfigure themselves by rearranging the connectivity of components to meet the different requirements of tasks. Metamorphic and origami-derived mechanisms are two kinds of typical reconfigurable mechanisms, which have attracted increasing attention in the field of mechanisms since they were proposed. Improving the independent design level, innovation, and international competitive powers of reconfigurable mechanical products is important. Summarizing related significant innovation research and application achievements periodically will shed light on research directions and promote academic exchanges. This paper presents an overview of recent developments in innovation design of reconfigurable mechanisms in China, including metamorphic and origami mechanisms and their typical applications. The future development trends are analyzed and forecasted.

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“…In this aspect, Vucina and Freudenstein [9] and Tsai and Norton [10] proposed TG and CG and used them to synthesize mechanisms. Yan and Kang [11] studied the configuration synthesis of mechanismsby changing types and/or motion orientations of joints. Hervé [12] studied type synthesis of mechanisms using Lie group.…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of 5-DoF Parallel Mechanisms with Different Submechanisms

Lü

Zhang

et al. 2018

Mathematical Problems in Engineering

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The type synthesis of the 5-DoF (degree of freedom) parallel mechanisms with different submechanisms is studied by utilizing digital topology graphs (DTGs). The conditions for synthesizing the 5-DoF parallel mechanisms with different submechanisms using DTGs are determined. Many valid DTGs are derived from 17 different 5-DoF associated linkages, and the valid DTGs are transformed into revised DTGs. The subplanar and/or spatial parallel mechanisms in the 5-DoF parallel mechanisms are transformed into some simple equivalent limbs, and their equivalent relations and merits are analyzed. Using the derived valid DTGs and revised DTGs, many 5-DoF parallel mechanisms with different subserial or parallel mechanisms are synthesized, and they are simplified by replacing the complicated subparallel mechanisms with their simple equivalent limbs. Finally, their DoFs are calculated to verify the correctness and effectiveness of the proposed approach.

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Configuration synthesis of mechanisms with variable topologies

Cited by 57 publications

References 27 publications

On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

Recent development on innovation design of reconfigurable mechanisms in China

Type Synthesis of 5-DoF Parallel Mechanisms with Different Submechanisms

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