CAM Representations of Generated Unique Manipulator Topologies for Selected Configurations
Description
In the research paper “Structural Synthesis of Platform Type Manipulators via Connection Based Adjacency Matrix”, utilization of a newly proposed connection based adjacency matrix (CAM) is presented to facilitate transition from manual to automated coarse topology generation via introduced direct and inverse methodologies for platform type manipulators, where hinge, branch and leg (ground) connections are treated separately. Introduced algorithms not only generate physically valid CAM representations of possible coarse manipulator topologies, but also eliminate isomorphs formed due to platform relabeling. Data sets of generated unique platform type manipulator topologies that transformed to CAM with direct structural synthesis are shared for the followings; • Number of Platforms (B) = 3, Platform Types = 3,3,3 • Number of Platforms (B) = 4, Platform Types = 3,4,5,6 • Number of Platforms (B) = 5, Platform Types = 3,3,3,4,5 • Number of Platforms (B) = 6, Platform Types = 3,3,3,4,4,5 Data sets of generated unique platform type manipulator topologies that transformed to CAM with inverse structural synthesis are shared for the followings; • Number of Platforms (B) = 3, Number of Legs = 4 • Number of Platforms (B) = 3, Number of Legs = 5 • Number of Platforms (B) = 4, Number of Legs = 4 • Number of Platforms (B) = 4, Number of Legs = 5 • Number of Platforms (B) = 5, Number of Legs = 4 • Number of Platforms (B) = 5, Number of Legs = 5
Files
Steps to reproduce
Introduced algorithm methodology in the research paper “Structural Synthesis of Platform Type Manipulators via Connection Based Adjacency Matrix” can be followed to reproduce the results.