On The Topological Representation and Compatibility of Variable Topology Mechanism
Date Issued
2009
Date
2009
Author(s)
Sun, Frederick
Abstract
A variable topology mechanism is a mechanism which is capable of changing its topological characteristics during motion. Through changing their topology, variable topology mechanisms can serve functions of many mechanisms using only one mechanism. These mechanisms have raised interest and attracted studies in recent years, yet few have consolidated different types of mechanisms, or discussed them in light of their operation space.his thesis classifies the variable topology mechanisms. Variable topology mechanisms are classified into three types: topology changed by intrinsic constraints; topology changed by joint geometry profile; and topology changed by external constraints. Expressions of the mechanism’s working space are presented with operating spaces and screws. Characteristics are identified: whether a joint provides constraints to lock up other joints are verified. The admissible operating space for compatible loop interface pairs is identified. The requisites of different working stages being workable with each other are also identified. As a result, some basic requirements for admissible variable topology mechanisms are unveiled, laying a foundation for systematical synthesis of variable topology mechanisms.ith characteristics of variable topology mechanisms, new mechanisms of the kind can be synthesized. An instance of synthesizing a variable topology mechanism and a new design is presented.
Subjects
variable topology
compatibility
operating space
Type
thesis
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