Affiliation:
1. University of Genova, Genova, Italy
Abstract
Starting from single-loop kinematic chains whose pairs present different connectivities when the chains are displaced in different positions, the paper shows how to assemble multiloop chains with numbers of degrees of freedom that change due to continuous variations in the position variables of the chains. This special mobility property is called kinematotropy. The paper provides a method (based on the displacement group theory) to form chains that allow any desired change in the number of degrees of freedom, with a sudden or gradual increment of this number. Several examples are presented and applications are discussed.
Publisher
American Society of Mechanical Engineers
Cited by
12 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
1. Kinematics, Singularity and Workspace Analysis of a Reconfigurable Parallel Mechanism for Large Scale Assembly;2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR);2024-06-23
2. Leveraging Emotional Intelligence for Customers;Leveraging Emotional and Artificial Intelligence for Organisational Performance;2023
3. A Multi-mode Parallel Mechanism with Kinematically Bifurcated Closed-chains;Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence - RICAI 2019;2019
4. First- and Second-Order Kinematics-Based Constraint System Analysis and Reconfiguration Identification for the Queer-Square Mechanism;Journal of Mechanisms and Robotics;2018-11-12
5. Structure synthesis of reconfigurable parallel mechanisms with closed-loop metamorphic linkages;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2017-04-11