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Joint-gene based variable topological representations and configuration transformations

“Joint-gene” concept is introduced as “changeable structural elements” in metamorphic mechanisms comparing with the gene in biology. The joint-gene based variable topological representation is proposed, and the method and procedures for the configuration transformations are presented based on the topological representation. First, the joint-gene modules, which have 4 non-zero elements square matrix, are proposed. Then a n×n topological characteristic matrix of kinematic chain is assembled by joint-gene modules according to the connectivity of the joints and links. Thirdly, a joint-gene locking modular is hence proposed for locking one of the joint or to delete one connected links while metamorphic, and finally the connectivity of deleted link are transferred to form the reconfigured topological matrix. The paper further gives examples to illustrate that the proposed joint-gene based topological representation providing more structural information with fewer elements, and it can be used in the computerized configuration transformations of planar and spatial mechanism with efficiency and practicality.