Reconfiguration Modules based Displacement Group Propagation

摘要

This paper investigates a metamorphic mechanism that can be decomposed and expressed by group chain corresponding to the kinematic equivalence leading to equivalent kinematic function but with different configurations. The metamorphic process is implemented through metamorphic module combinations and corresponding reconfiguration operations. However, metamorphic module is a constitution of a group using intrinsic geometrical entities instead of frame-dependent motion matrices and considering the available kinematic pair structures, which has potential ability to degenerate as inherent components. Moreover, the kinematic sequencing can set up a model for metamorphic configuration characteristics and the topology variation can be operated by metamorphic module variation with the displacement group transformation and propagation. A metamorphic mechanism can be converted into various topological configurations with respect to kinematic metamorphosis of joints and links in terms of metamorphic modules based on set theoretic.