As the structures of multiarm robots are serially arranged,the packaging and transportation of these robots are often inconvenient.The ability of these robots to operate objects must also be improved.Addressing this i...As the structures of multiarm robots are serially arranged,the packaging and transportation of these robots are often inconvenient.The ability of these robots to operate objects must also be improved.Addressing this issue,this paper presents a type of multiarm robot that can be adequately folded into a designed area.The robot can achieve different operation modes by combining different arms and objects.First,deployable kinematic chains(DKCs)are designed,which can be folded into a designated area and be used as an arm structure in the multiarm robot mechanism.The strategy of a platform for storing DKCs is proposed.Based on the restrictions in the storage area and the characteristics of parallel mechanisms,a class of DKCs,called base assembly library,is obtained.Subsequently,an assembly method for the synthesis of the multiarm robot mechanism is proposed,which can be formed by the connection of a multiarm robot mechanism with an operation object based on a parallel mechanism structure.The formed parallel mechanism can achieve a reconfigurable characteristic when different DKCs connect to the operation object.Using this method,two types of multiarm robot mechanisms with four DKCs that can switch operation modes to perform different tasks through autonomous combination and release operation is proposed.The obtained mechanisms have observable advantages when compared with the traditional mechanisms,including optimizing the occupied volume during transportation and using parallel mechanism theory to analyze the switching of operation modes.展开更多
A simple, efficient, automatic and universal method to fulfill displacementanalysis of a great deal of mechanisms regenerated by Yan's mechanism creative theory has beendeveloped. For a regenerated mechanism, at f...A simple, efficient, automatic and universal method to fulfill displacementanalysis of a great deal of mechanisms regenerated by Yan's mechanism creative theory has beendeveloped. For a regenerated mechanism, at first, the method identifies its type and structure andchanges it into a rigid structure by fixing the ground link and the input link. And then this rigidstructure is decomposed into a set of basic kinematic chains (BKCs). By matching the type of BKC,the displacement analysis equations can be set up, and all possible configurations, in whichpositions of all movable links are considered, can be given out.展开更多
Isomorphism detection is fundamental to the synthesis and innovative design of kinematic chains(KCs).The detection can be performed accurately by using the similarity of KCs.However,there are very few works on isomorp...Isomorphism detection is fundamental to the synthesis and innovative design of kinematic chains(KCs).The detection can be performed accurately by using the similarity of KCs.However,there are very few works on isomorphism detection based on the properties of similar vertices.In this paper,an ameliorated multi-order adjacent vertex assignment sequence(AMAVS)method is proposed to seek out similar vertices and identify the isomorphism of the planar KCs.First,the specific definition of AMAVS is described.Through the calculation of the AMAVS,the adjacent vertex value sequence reflecting the uniqueness of the topology features is established.Based on the value sequence,all possible similar vertices,corresponding relations,and isomorphism discrimination can be realized.By checking the topological graph of KCs with a different number of links,the effectiveness and efficiency of the proposed method are verified.Finally,the method is employed to implement the similar vertices and isomorphism detection of all the 9-link 2-D0F(degree of freedom)planar KCs.展开更多
Based on structural properties and genetic isomorphism-identification approach, this paper proposes a classification scheme of kinematic structures to categorize the kinematic chains into different families, thus faci...Based on structural properties and genetic isomorphism-identification approach, this paper proposes a classification scheme of kinematic structures to categorize the kinematic chains into different families, thus facilitating the optimum selection of a basic structure of a mechanism. The kinematic chain is represented by a graph at first. The genetic adaptive model for the graph isomorphism identification is developed, which includes the construction of an effective method to decrease the problem's dimensions and applying an evolutionary searching strategy. From the various invariants of the genetic adaptive model, which charaterize the specific features of a kinematic chain or a family of kinematic chains, we obtain a six-step hierarchical classification scheme. This scheme classifies together the kinematic chains having similar sub-sets of structures forming isomorphic sub-chains. An example illustrates the theory, procedure and utitlity of the hierarchical classification. The scheme reduces computing time and effort in the optimum selection of a kinematic structure from a large family of kinematic chains.展开更多
The isomorphism of planar kinematic chains is studied. The original methods for de- tecting isomorphism is discussed. A new matrix, the link -link path matrix, is presented to show the structures of planar kinematic c...The isomorphism of planar kinematic chains is studied. The original methods for de- tecting isomorphism is discussed. A new matrix, the link -link path matrix, is presented to show the structures of planar kinematic chains. It is simple and reliable to detect isomorphism of planar kinematic chains by using the link-link path matrix.展开更多
This paper presents a novel method for the description of kinematic chains, namely the canonical description of kinematic chains including the synthetic degree-sequences and the canonical adjacency matrices sets of ki...This paper presents a novel method for the description of kinematic chains, namely the canonical description of kinematic chains including the synthetic degree-sequences and the canonical adjacency matrices sets of kinematic chains. The most important characteristic of this new description method is its uniqueness. Based on the new principle the isomorphism identification becomes easy and the structures of all kinds of kinematic chains can be stored in computer for the benefits of the realization of automation and intelligence of machine design.展开更多
The adjacent matrix method for identifying isomorphism to planar kinematic chain with multiple joints and higher pairs is presented. The topological invariants of the planar kinematic chain can be calculated and compa...The adjacent matrix method for identifying isomorphism to planar kinematic chain with multiple joints and higher pairs is presented. The topological invariants of the planar kinematic chain can be calculated and compared by adjacent matrix. The quantity of calculation can be reduced effectively using the several divisions of bars and the reconfiguration of the adjacent matrix. As two structural characteristics of adjacent matrix, the number of division and division code are presented. It can be identified that two kinematic chains are isomorphic or not by comparing the structural characteristics of their adjacent matrixes using a method called matching row-to-row. This method may be applied to the planar linkage chain too. So, the methods of identifying isomorphism are unified in the planar kinematic chain that has or hasn＇t higher pairs with or without multiple joints. And it has some characters such as visual, simple and convenient for processing by computer, and so on.展开更多
In the process of kinematic chain type synthesis,it is necessary to solve the problems of isomorphism identification and rigid subchain detection.The problem of rigid subchain detection can be reduced to subgraph isom...In the process of kinematic chain type synthesis,it is necessary to solve the problems of isomorphism identification and rigid subchain detection.The problem of rigid subchain detection can be reduced to subgraph isomorphism problem,which belongs to NPC problem.This paper introduces the properties,detection methods,algorithm time complexity and program code of rigid subchain of kinematic chain.The detection codes of rigid subchains with different number of links are different.It is necessary to modify the for-loop nesting times of program code according to the change of the link number,so the code reusability is very low.In view of this,the recursive pseudo code of rigid subchain detection algorithm is proposed for the first time,which makes the program can be directly used for rigid subchain detection of any number of links,improves the reusability of the code,and provides a certain reference for the realization and optimization of computer programs for NPC problems in other disciplines.A rigid subchain detection software of kinematic chain was developed,and the rigid subchain detection process of a 16-link kinematic chain was successfully realized in the software.展开更多
A method of analyzing the motion of guided chain drive mechanism with linkages is presented. The method studies the output motion of a point on connecting rod including motion track, velocity and acceleration.
Based on the mathematic representation of loops of kinematic chains, this paper proposes the " ⊕ " operation of loops and its basic laws and establishes the basic theorem system of the loop algebra of kinem...Based on the mathematic representation of loops of kinematic chains, this paper proposes the " ⊕ " operation of loops and its basic laws and establishes the basic theorem system of the loop algebra of kinematic chains. Then the basis loop set and its determination conditions, and the ways to obtain the crucial perimeter topological graph are presented. Furthermore, the characteristic perimeter topo-logical graph and the characteristic adjacency matrix are also developed. The most important characteristic of this theory is that for a topological graph which is drawn or labeled in any way, both the resulting characteristic perimeter topological graph and the characteristic adjacency matrix obtained through this theory are unique, and each has one-to-one correspondence with its kinematic chain. This character-istic dramatically simplifies the isomorphism identification and establishes a theoretical basis for the numeralization of topological graphs, and paves the way for numeralization and computerization of the structural synthesis and mechanism design further. Finally, this paper also proposes a concise isomorphism identifica-tion method of kinematic chains based on the concept of characteristic adjacency matrix.展开更多
This paper presents a mechanism theory principle for equivalent substitution in kinematic chain of a higher pair for lower pairs. This is the opposite of the principle of the equivalent substitution of lower pairs for...This paper presents a mechanism theory principle for equivalent substitution in kinematic chain of a higher pair for lower pairs. This is the opposite of the principle of the equivalent substitution of lower pairs for a higher pair. Also presented here is a new approach for isomorphism identification in kinematic chains containing higher pairs(KCCHs). Based on this approach, an algorithm for generating nonisomorphic KCCHs has been developed. This algorithm is not restricted by the number of links, the degree of freedom or the number of higher pairs. Using this algorithm, nonisomorphic KCCHs can be generated automatically from the kinematic chains that contain only lower pairs. As an application of this algorithm, all the nonisomorphic KCCHs with N<10(N, the number of links), F≤3 (F, the degree of KCCHs), and H≤2(H, the number of higher pairs) are computer generated.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51875033)the Fundamental Research Funds for the Central Universities(Grant No.2018JBM051)program of China Scholarships Council(Grant No.CSC201907090037).
文摘As the structures of multiarm robots are serially arranged,the packaging and transportation of these robots are often inconvenient.The ability of these robots to operate objects must also be improved.Addressing this issue,this paper presents a type of multiarm robot that can be adequately folded into a designed area.The robot can achieve different operation modes by combining different arms and objects.First,deployable kinematic chains(DKCs)are designed,which can be folded into a designated area and be used as an arm structure in the multiarm robot mechanism.The strategy of a platform for storing DKCs is proposed.Based on the restrictions in the storage area and the characteristics of parallel mechanisms,a class of DKCs,called base assembly library,is obtained.Subsequently,an assembly method for the synthesis of the multiarm robot mechanism is proposed,which can be formed by the connection of a multiarm robot mechanism with an operation object based on a parallel mechanism structure.The formed parallel mechanism can achieve a reconfigurable characteristic when different DKCs connect to the operation object.Using this method,two types of multiarm robot mechanisms with four DKCs that can switch operation modes to perform different tasks through autonomous combination and release operation is proposed.The obtained mechanisms have observable advantages when compared with the traditional mechanisms,including optimizing the occupied volume during transportation and using parallel mechanism theory to analyze the switching of operation modes.
基金This project is supported by Teaching Research Award Program for Outstanding Young Teachers of MOE (No.1999076)by Shanghai Sustentation Foundation, China.
文摘A simple, efficient, automatic and universal method to fulfill displacementanalysis of a great deal of mechanisms regenerated by Yan's mechanism creative theory has beendeveloped. For a regenerated mechanism, at first, the method identifies its type and structure andchanges it into a rigid structure by fixing the ground link and the input link. And then this rigidstructure is decomposed into a set of basic kinematic chains (BKCs). By matching the type of BKC,the displacement analysis equations can be set up, and all possible configurations, in whichpositions of all movable links are considered, can be given out.
基金Supported by National Natural Science Foundation of China(Grant Nos.51675488,51975534)Zhejiang Provincial Natural Science Foundation of China(Grant No.LY19E050021)。
文摘Isomorphism detection is fundamental to the synthesis and innovative design of kinematic chains(KCs).The detection can be performed accurately by using the similarity of KCs.However,there are very few works on isomorphism detection based on the properties of similar vertices.In this paper,an ameliorated multi-order adjacent vertex assignment sequence(AMAVS)method is proposed to seek out similar vertices and identify the isomorphism of the planar KCs.First,the specific definition of AMAVS is described.Through the calculation of the AMAVS,the adjacent vertex value sequence reflecting the uniqueness of the topology features is established.Based on the value sequence,all possible similar vertices,corresponding relations,and isomorphism discrimination can be realized.By checking the topological graph of KCs with a different number of links,the effectiveness and efficiency of the proposed method are verified.Finally,the method is employed to implement the similar vertices and isomorphism detection of all the 9-link 2-D0F(degree of freedom)planar KCs.
文摘Based on structural properties and genetic isomorphism-identification approach, this paper proposes a classification scheme of kinematic structures to categorize the kinematic chains into different families, thus facilitating the optimum selection of a basic structure of a mechanism. The kinematic chain is represented by a graph at first. The genetic adaptive model for the graph isomorphism identification is developed, which includes the construction of an effective method to decrease the problem's dimensions and applying an evolutionary searching strategy. From the various invariants of the genetic adaptive model, which charaterize the specific features of a kinematic chain or a family of kinematic chains, we obtain a six-step hierarchical classification scheme. This scheme classifies together the kinematic chains having similar sub-sets of structures forming isomorphic sub-chains. An example illustrates the theory, procedure and utitlity of the hierarchical classification. The scheme reduces computing time and effort in the optimum selection of a kinematic structure from a large family of kinematic chains.
文摘The isomorphism of planar kinematic chains is studied. The original methods for de- tecting isomorphism is discussed. A new matrix, the link -link path matrix, is presented to show the structures of planar kinematic chains. It is simple and reliable to detect isomorphism of planar kinematic chains by using the link-link path matrix.
文摘This paper presents a novel method for the description of kinematic chains, namely the canonical description of kinematic chains including the synthetic degree-sequences and the canonical adjacency matrices sets of kinematic chains. The most important characteristic of this new description method is its uniqueness. Based on the new principle the isomorphism identification becomes easy and the structures of all kinds of kinematic chains can be stored in computer for the benefits of the realization of automation and intelligence of machine design.
文摘The adjacent matrix method for identifying isomorphism to planar kinematic chain with multiple joints and higher pairs is presented. The topological invariants of the planar kinematic chain can be calculated and compared by adjacent matrix. The quantity of calculation can be reduced effectively using the several divisions of bars and the reconfiguration of the adjacent matrix. As two structural characteristics of adjacent matrix, the number of division and division code are presented. It can be identified that two kinematic chains are isomorphic or not by comparing the structural characteristics of their adjacent matrixes using a method called matching row-to-row. This method may be applied to the planar linkage chain too. So, the methods of identifying isomorphism are unified in the planar kinematic chain that has or hasn＇t higher pairs with or without multiple joints. And it has some characters such as visual, simple and convenient for processing by computer, and so on.
文摘In the process of kinematic chain type synthesis,it is necessary to solve the problems of isomorphism identification and rigid subchain detection.The problem of rigid subchain detection can be reduced to subgraph isomorphism problem,which belongs to NPC problem.This paper introduces the properties,detection methods,algorithm time complexity and program code of rigid subchain of kinematic chain.The detection codes of rigid subchains with different number of links are different.It is necessary to modify the for-loop nesting times of program code according to the change of the link number,so the code reusability is very low.In view of this,the recursive pseudo code of rigid subchain detection algorithm is proposed for the first time,which makes the program can be directly used for rigid subchain detection of any number of links,improves the reusability of the code,and provides a certain reference for the realization and optimization of computer programs for NPC problems in other disciplines.A rigid subchain detection software of kinematic chain was developed,and the rigid subchain detection process of a 16-link kinematic chain was successfully realized in the software.
文摘A method of analyzing the motion of guided chain drive mechanism with linkages is presented. The method studies the output motion of a point on connecting rod including motion track, velocity and acceleration.
基金Supported by the National Natural Science Foundation of China (Grant No. 50575197)
文摘Based on the mathematic representation of loops of kinematic chains, this paper proposes the " ⊕ " operation of loops and its basic laws and establishes the basic theorem system of the loop algebra of kinematic chains. Then the basis loop set and its determination conditions, and the ways to obtain the crucial perimeter topological graph are presented. Furthermore, the characteristic perimeter topo-logical graph and the characteristic adjacency matrix are also developed. The most important characteristic of this theory is that for a topological graph which is drawn or labeled in any way, both the resulting characteristic perimeter topological graph and the characteristic adjacency matrix obtained through this theory are unique, and each has one-to-one correspondence with its kinematic chain. This character-istic dramatically simplifies the isomorphism identification and establishes a theoretical basis for the numeralization of topological graphs, and paves the way for numeralization and computerization of the structural synthesis and mechanism design further. Finally, this paper also proposes a concise isomorphism identifica-tion method of kinematic chains based on the concept of characteristic adjacency matrix.
基金Manuscript received August 10, 2009 accepted September 8, 2010 Supported by National Natural Science Foundation of China 60874002）, Key Project of Shanghai Education Committee 09ZZ158）, Leading Academic Discipline Project of Shanghai Municipal Government （S30501）, and Innovation Fund Project For Craduate Student of Shanghai （JWCXSL1001）
文摘This paper presents a mechanism theory principle for equivalent substitution in kinematic chain of a higher pair for lower pairs. This is the opposite of the principle of the equivalent substitution of lower pairs for a higher pair. Also presented here is a new approach for isomorphism identification in kinematic chains containing higher pairs(KCCHs). Based on this approach, an algorithm for generating nonisomorphic KCCHs has been developed. This algorithm is not restricted by the number of links, the degree of freedom or the number of higher pairs. Using this algorithm, nonisomorphic KCCHs can be generated automatically from the kinematic chains that contain only lower pairs. As an application of this algorithm, all the nonisomorphic KCCHs with N<10(N, the number of links), F≤3 (F, the degree of KCCHs), and H≤2(H, the number of higher pairs) are computer generated.
