Joint-gene based variable topological representations and configuration transformations

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Joint-gene based variable topological representations and configuration transformations
	Li SJ(李树军); Zhang YL(张艳丽); Song, Yang; Wang HG(王洪光)
	2009
会议名称	2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR 2009
会议日期	June 22-24, 2009
会议地点	London
关键词	metamorphic mechanism joint-gene modular variable topological reconfiguration
页码	348-354
通讯作者	李树军
中文摘要	"Joint-gene" concept is introduced as "changeable structural elements" in metamorphic mechanisms comparing with the gene in biology. The joint-gene based variable topological representation is proposed, and the method and procedures for the configuration transformations are presented based on the topological representation. First, the joint-gene modules, which have 4 non-zero elements square matrix, are proposed. Then a n x n topological characteristic matrix of kinematic chain is assembled by joint-gene modules according to the connectivity of the joints and links. Thirdly, a joint-gene locking modular is hence proposed for locking one of the joint or to delete one connected links while metamorphic, and finally the connectivity of deleted link are transferred to form the reconfigured topological matrix. The paper further gives examples to illustrate that the proposed joint-gene based topological representation providing more structural information with fewer elements, and it can be used in the computerized configuration transformations of planar and spatial mechanism with efficiency and practicality.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE
会议录	2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR 2009
会议录出版者	ACM IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-88-89007-37-2
WOS记录号	WOS:000284979900051
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20035]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Li SJ,Zhang YL,Song, Yang,et al. Joint-gene based variable topological representations and configuration transformations[C]. 见:2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR 2009. London. June 22-24, 2009.