Classification and enumeration of topological structures of robotic mechanisms - Generation of robotic mechanisms with unconventional topological structures

This paper discusses the classification and enumeration of topological structures of robotic mechanisms, aiming to develop practical robotic mechanisms with unconventional topological structures. First, we consider the features of topological structures of conventional robotic mechanisms and we point out that almost all of these can be constructed by using only one simple basic unit and two simple connection rules. Then, we present an efficient way to enumerate the topological structures which cannot be constructed from the basic unit and the connection rules, or unconventional topological structures. Then, we discuss the sequence required to construct robotic mechanisms from the enumerated unconventional topological structures. In the discussion, some effective tools, "graph division", "graph management tool" and "DOF setting based on Kuzbach criterion", which help designers construct a variety of mechanisms from the same topological structure are introduced. Finally, some examples of the sequences allowing the generation of robotic mechanisms with unconventional topological structures are shown.