Topology and kinematic analysis of color-changing ball

被引：43

作者：

Ding, Xilun ^{[2
]}

Yang, Yi ^{[2
]}

Dai, Jian S. ^{[1
]}

机构：

[1] Univ London, Univ London Kings Coll, Sch Mech Engn, London WCR2LS, England

[2] Beihang Univ, Inst Robot, Beijing 100191, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2011年 / 46卷 / 01期

关键词：

Mechanism topology; Kinematics; Double-sliders; Singularity; MOBILITY; MECHANISMS;

D O I：

10.1016/j.mechmachtheory.2010.08.010

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The color-changing ball has two stable configurations. Its mechanism is a multiple loop and polygonal mechanism. This paper investigates the mechanism typology and analyzes its structure and configurations during motion. A three-legged mechanism is extracted from this mechanism. The kinematics model of the mechanism is presented and singularity is discussed. The paper further decomposes the mechanism and investigates the platform structure of the intersection between loops. This leads to investigation of the offset of joint intersection at the intersection and its relevant geometry and kinematics. The paper further focuses on the configuration change between two states of the mechanism and investigates kinematics and singularity between two configurations. Based on the analysis, simulation of the color-changing ball is carried out. The topology and kinematics analysis in this paper helps the analysis of this kind of polyhedral linkage mechanism with radial motion. The research could potentially lead to the development of kinematics for design of this kind of mechanism. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：67 / 81

页数：15

共 19 条

[1]

Agrawal SK, 2001, IEEE INT CONF ROBOT, P3338, DOI 10.1109/ROBOT.2001.933133

[2]

BAKER B, 2005, PHYS TEACH, V43, P247

[3]

BARBOUR RL, 2004, Patent No. 6795195

[4] Matrix representation of topological changes in metamorphic mechanisms [J].

Dai, JS ;

Jones, JR .

JOURNAL OF MECHANICAL DESIGN, 2005, 127 (04) :837-840

[5] Mobility analysis of a complex structured ball based on mechanism decomposition and equivalent screw system analysis [J].

Dai, JS ;

Li, DL ;

Zhang, QX ;

Jin, GG .

MECHANISM AND MACHINE THEORY, 2004, 39 (04) :445-458

[6] Sprained ankle physiotherapy based mechanism synthesis and stiffness analysis of a robotic rehabilitation device [J].

Dai, JS ;

Zhao, T ;

Nester, C .

AUTONOMOUS ROBOTS, 2004, 16 (02) :207-218

[7] Mobility in metamorphic mechanisms of foldable/erectable kinds [J].

Dai, JS ;

Jones, JR .

JOURNAL OF MECHANICAL DESIGN, 1999, 121 (03) :375-382

[8] A six-component contact force measurement device based on the Stewart platform [J].

Dai, JS ;

Kerr, DR .

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2000, 214 (05) :687-697

[9]

Ding Xilun, 2009, 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009), P456

[10]

Elwood B. M., 2003, Validation Device and Method, Patent No. [37 10/ 156, 801, 20030221486]

← 1 2 →