Method for Selecting Self-aligning Mechanisms Enumerated by Matroid Contractions

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Method for Selecting Self-aligning Mechanisms Enumerated by Matroid Contractions

Barreto, Rodrigo Luis Pereira / Carboni, Andrea Piga / Simoni, Roberto / Martins, Daniel

This paper presents a novel method to select self-aligning mechanisms enumerated using Davies’ method and matroid theory. Davies’ method and screw theory are used to model mechanisms in terms of freedoms and constraints. Matroids are used to enumerate self-aligning mechanisms using the model created with Davies’ method as input. Matroid contraction is then applied in order to select a set of feasible self-aligning mechanisms. The herein proposed method is applied to a well known mechanism, the Quadrupteron. Using matroid contraction, design requirements are employed to select a set of feasible self-alingning mechanisms. A novel familiy of self-aligning mechanisms, called Quadriflex family, is finally proposed.

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Document information

Title :

Method for Selecting Self-aligning Mechanisms Enumerated by Matroid Contractions

Additional title:

Springer Proceedings in Advanced Robotics

Contributors:

Lenarčič, Jadran (editor) / Siciliano, Bruno (editor) / Barreto, Rodrigo Luis Pereira (author) / Carboni, Andrea Piga (author) / Simoni, Roberto (author) / Martins, Daniel (author)

Conference:

International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020

Published in:

Advances in Robot Kinematics 2020 ; Chapter : 24 ; 190-198

Springer Proceedings in Advanced Robotics ; 15

Publication date :

2020-07-18

Size :

9 pages

ISBN :

978-3-030-50975-0 , 978-3-030-50974-3

ISSN :