Mechanism State Matrices for Planar Reconfigurable Mechanisms

Slaboch, Brian J.; Voglewede, Philip A.

doi:10.1115/1.4003270

Cited by 14 publications

(5 citation statements)

References 14 publications

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“…Although multitasking timber harvesters operating in timber production areas have been upgraded in recent years, the innovative designing method for and theoretical research on timber production machinery still remains weak [12][13][14][15][16][17]. In this paper, the methods from modern mechanisms that create reconfigurable mechanisms are applied to the design of the logging and brand-lopping mechanism which present a novel logging and branch-lopping mechanism.…”

Section: Introductionmentioning

confidence: 99%

Design and Analyses of a Novel Reconfigurable Logging Branch Mechanism

Shi,

Peng,

Liao

2024

J. Phys.: Conf. Ser.

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A reconfigurable logging and branch-lopping mechanism has been designed to shorten the production cycle, reduce work intensity, and improve labor survival rate in the logging industry. The mechanism integrating logging and branch-lopping functions can flexibly morph into three con-figurations, namely, series, parallel and mixed, as well as eight structure states to satiate different requirements. Not only does it possess sufficient stiffness to fell large trees but it also offers high flexibility to trim and crop small branches which superior performance has relatively wide engineering application prospects. The kinematics and static stiffness of the mechanism are the key techniques for its engineering application. With the mechanism as the research object, the working principles were analysed and the adjacency matrix of each structure state was presented. The Screw Theory and CGK formula were deployed to calculate the degrees of freedom of some of the structure mechanisms. The kinematics of some of the structure states was analysed and their flexibility matrices were obtained with vector algebra. The static stiffness of two structure states was compared indirectly by contrasting their flexibility matrices before their kinematics was simulated numerically. Engineering application of the mechanism in welding robots, robots that pick up objects, cleaning robots and other fields is demonstrated towards the end of this paper.

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Section: Introductionmentioning

confidence: 99%

Design and Analyses of a Novel Reconfigurable Logging Branch Mechanism

Shi,

Peng,

Liao

2024

J. Phys.: Conf. Ser.

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“…The adjacency matrix is another popular research. Slaboch and Voglewede [14] designed the adjacency matrix to denote the topology structures of planar linkage mechanisms. Only two elements 1 and 0 are employed in this matrix to indicate the connection status.…”

Section: Introductionmentioning

confidence: 99%

Kinematic joint matrix and block diagram for a group of parallel manipulators

Zou

Zhang²,

Huang³

2022

Robotica

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There are various matrices to represent parallel mechanisms. It is essential to design a kind of approach to not only denote the parallel structures but also disclose the joint directions. In this paper, a novel methodology called the kinematic joint matrix (KJM) is proposed. It possesses the mapping relations with parallel manipulators with three kinds of kinematic joints. The size of such matrix is smaller when compared with that of topology matrix. A series of two to six degrees-of-freedom parallel architectures is denoted by the KJM. A convenient approach using a special block diagram is introduced to distinguish various kinds of kinematic joint matrices. In addition, detailed comparisons between KJM and topology matrix are investigated. Three regulations are proposed for the latter to be applicable to parallel mechanisms.

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“…Santiago-Valentín et al 21 presented a novel Santiago–Portilla Method of representing any type of planar mechanisms, independently of the number of elements or the link type. Slaboch et al 22 first introduced a method of matrix representations contained the five topological characteristics, including the connectivity of the links and joints, the type of joints, the kinematic orientation of the joints, the fixed links, and the degrees of freedom of the mechanism. Sohn et al 23 developed a powerful new representation of the kinematic structure of mechanisms based on dual graphs, which permitted the development of a highly efficient completely automatic procedure for the computer-generated enumeration of the kinematic structures of mechanisms.…”

Section: Introductionmentioning

confidence: 99%

A new synthesis method for planar Rubik’s cube mechanism

Fan

Zeng

Dong

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Planar mechanism is a kind of important mechanism, which plays a key role in daily life and industrial life. This paper presents a new synthesis method for planar Rubik’s cube mechanism (PRCM). Firstly, the composition and motion mechanism of the PRCM are introduced combined with a symmetrical four-axis PRCM. The reconfigurable motion process of two kinds of PRCMs is described and analyzed, and the conditions of realizing reconfigurable motion of PRCMs are obtained. Next, a new synthesis method of PRCM is put forward, and the detailed process and flow chart of PRCM synthesis are given. Then, the factors affecting the topological structure of the PRCM are determined from the synthesis process. Finally, the cases of each type of PRCM are synthesized by setting specific parameters. The PRCM synthesis method is of great significance to perfect and enrich the plane reconfigurable mechanism synthesis theory.

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Mechanism State Matrices for Planar Reconfigurable Mechanisms

Cited by 14 publications

References 14 publications

Design and Analyses of a Novel Reconfigurable Logging Branch Mechanism

Design and Analyses of a Novel Reconfigurable Logging Branch Mechanism

Kinematic joint matrix and block diagram for a group of parallel manipulators

A new synthesis method for planar Rubik’s cube mechanism

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