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Mechanical Sciences An open-access journal for theoretical and applied mechanics

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Mech. Sci., 8, 101-109, 2017
http://www.mech-sci.net/8/101/2017/
doi:10.5194/ms-8-101-2017
© Author(s) 2017. This work is distributed
under the Creative Commons Attribution 3.0 License.
Research article
12 Apr 2017
An Algebraic Formulation for the Configuration Transformation of a Class of Reconfigurable Cube Mechanisms
Chin-Hsing Kuo, Jyun-Wei Su, and Lin-Chi Wu Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan
Abstract. This paper presents an algebraic strategy for formulating the configuration transformation of a special class of reconfigurable cube mechanism (RCM) made by 23 cyclically connected sub-cubes. The RCM studied here is kinematically equivalent to a spatial eight-bar linkage having eight transformable configurations. In this paper, the reconfiguration characteristics of the RCM are figured out first. Then, the initial configuration of the RCM is described by a joint-screw matrix, from which all the consecutive joint-screw matrices that represent the configuration transformation of the RCM can be derived. An illustrative example is provided to determine the eight joint-screw matrices of an RCM at an initial configuration. This reconfiguration formulation is further applied to enumerate all feasible topological configurations of such a special reconfigurable mechanism. The results show that, for such a special kind of reconfigurable cube mechanisms, there is only one feasible initial topological configuration for the RCM to perform a complete cycle of reconfiguration.

Citation: Kuo, C.-H., Su, J.-W., and Wu, L.-C.: An Algebraic Formulation for the Configuration Transformation of a Class of Reconfigurable Cube Mechanisms, Mech. Sci., 8, 101-109, doi:10.5194/ms-8-101-2017, 2017.
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Short summary
This paper investigates a special cube-connected toy that can be reconfigured into several different structures by hand operation. The reconfiguration of the toy is formulated by using an exclusive mathematic modeling through which the physical reconfiguration of the toy can be expressed and manipulated in an algebraic consideration. This research is an example of how mathematics can be applied to study the reconfiguration of mechanisms and mechanical structures.
This paper investigates a special cube-connected toy that can be reconfigured into several...
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