Structural Synthesis of Platform Type Manipulators via Connection Based Adjacency Matrix: Topology Generation

Abstract

This paper focuses on the design procedures of Alizade's direct and Gezgin's inverse structural synthesis methodologies for platform type manipulators. These task based synthesis procedures includes versatile methodologies for any designer to generate various platform type manipulators with respect to given constraints via simple universal mobility formulation. However they rely on manual generation of mobility independent coarse topological structures, where it is nearly impossible to generate all possible results. In light of this, current study introduces a unique connection based adjacency matrix (CAM) for topology representation, in which legs connected to the fixed ground and platform connections (hinges and branches) are treated separately. The main objective of CAM is to ensure an efficient transition from manual topology generation to automated methods by providing compatibility with software algorithms to describe topologies. Throughout the paper CAM based automated topology generation algorithm that reveals all possible unique coarse topologies with respect to given design constraints is also presented along with examples. Introduced algorithm both allows investigation of isomorphism and eliminates necessity of inversion.