On the matrix representation methods for variable topology mechanisms

Abstract

Mechanism with variable topologies (MVTs) can change its topological structure because the kinematic types of certain joints are changeable during operation process. This work reviews and discusses the matrix methods for the representation and analysis of the topological structures of MVTs. First, we study several matrix representation methods for MVTs and compare their characteristics. Accordingly, these methods are classified into two different types based on the existence of joint types recorded. Furthermore, we discuss the applications of these methods for the structural decomposition and the topological homomorphism identification of MVTs. Last, we summarize the current limitations of the matrix representation methods for MVTs for future studies. © Springer-Verlag London 2012.