Abstract
Aiming at the problem of incomplete expression of the configuration description matrix information of reconfigurable mechanisms, a new matrix description method for the topological structure and configuration changes of reconfigurable mechanisms is proposed to effectively describe the compound hinges in the reconfigurable mechanisms. Recognition, determination of multiple components, determination of movement types and orientations, the new matrix description method is used to express the configuration changes of the reconfigurable mechanism, and the mathematical operation of the configuration change law is used as the recognition of the mechanism in different motion modes. Finally, a reconfigurable multi-mode mobile robot is used as a case for analysis and verification. The results show that, compared with the traditional description matrix method, the method proposed in this paper has the characteristics of clear and rich information expression, simple structure, and is conducive to automatic retrieval and recognition of movement modes.
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Cai, L., Zhang, C., Ping, A. (2023). Description of Configuration Transformation Matrix of Reconfigurable Mechanism and Automatic Retrieval and Recognition of Motion Mode. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14275. Springer, Singapore. https://doi.org/10.1007/978-981-99-6504-5_10
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DOI: https://doi.org/10.1007/978-981-99-6504-5_10
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