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Practical Structural Design Approach of Multiconfiguration Planar Single‑Loop metamorphic mechanism with a Single Actuator

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Chinese Journal of Mechanical Engineering 2020年第5期33卷 19-33页

作者： Qiang Yang Guangbo Hao Shujun Li Hongguang Wang Haiyang Li College of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Department of Electrical and Electronic Engineering University College CorkCork T12 K8AFIreland State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

As a type of multiconfiguration mechanism that can operate in an under-actuated state,metamorphic mechanisms were proposed more than two decades ago and attracted significant interest.Studies on structural synthesis of metamorphic mechanisms tend to focus more on metamorphic techniques and the structural synthesis of source mechanisms for metamorphic mechanisms.By designing different constraint architectures of metamorphic joints,multistructures can be obtained from the same source metamorphic mechanism.To determine the constraint architectures of metamorphic joints and their different assembly combinations,a kinematic status matrix and a corresponding constraint status matrix are constructed based on the metamorphic cyclogram of a source mechanism.According to the equivalent resistance gradient model and the constraint status matrix,an equivalent resistance matrix for the metamorphic joints is proposed.A structural synthesis matrix of the metamorphic mechanism is then obtained from the equivalent resistance matrix by deducing the constraint form vectors of the metamorphic joints.Furthermore,a kinematic diagram synthesis of the source metamorphic mechanism of a planar single-loop metamorphic mechanism is proposed,which is based on only the 14 one-or zero-degrees-of-freedom linkage groups.The entire structural design method of a metamorphic mechanism is based on the structural synthesis matrix and is presented as a systematic process.Finally,the proposed structural design approach is illustrated by two examples to verify its feasibility and practicality.This study provides an effective method for designing a practical multi-mobility and multiconfiguration planar single-loop metamorphic mechanism with a single actuator.

关键词： metamorphic mechanism Structural design Form of metamorphic joints Multiconfiguration Equivalent resistance Single actuator

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A Biomimetic Study of Discontinuous-Constraint metamorphic mechanism for Gecko-Like Robot

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Journal of Bionic Engineering 2007年第2期4卷 91-95页

作者： Zhen-dong Dai Jiu-rong Sun Institute of Bio-inspired Structure and Surface Engineering The Academy of Frontier Science Nanjing University of Aeronautics and Astronautics Nanjing 210016 P. R. China College of Life Sciences Peking University Beijing 100871 P. R. China

Locomotion ability, efficiency and reliability are key targets for a good robot. The linkage mechanism for robot locomotion is a discontinuous-constraint metamorphic mechanism. Here we set up equations to present the discontinuous-constraint, point out that driving and controlling are the key points to improve the performance and efficiency of the linkage mechanism. Inspired by controlling strategy of the motor nervous system in peripheral vertebrae to the locomotion, we draw off motor control and drive strategy.

关键词： biomimetic robotics gecko-like robot metamorphic mechanism

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DYNAMIC MODELING OF metamorphic mechanism

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Chinese Journal of Mechanical Engineering 2003年第1期16卷 94-99页

作者： JinGuoguang DaiJiansheng 等 RoboticsInstitute BejingUnviersityofAeronauticsandAstronauticsBejing100083China RoboticsInstituteBejingUniversityofAeronauticsandAstronauticsandAstronautics Bejing100083China

The concept of metamorphic mechanism is put forward according to the changeof configurations from one state to another. Different configurations of metamorphic mechanism aredescribed through the method of Huston lower body arrays. Kinematics analyses for metamorphicmechanism with generalized topological structure, including the velocity, angular velocity,acceleration and angular acceleration, are given. Dynamic equations for an arbitrary configuration,including close-loop constraints, are formed by using Kane's equations. For an arbitrary metamorphicmechanism, the transformation matrix of generalized speeds between configuration zeta and zeta+1 isobtained for the first time. Furthermore, configuration-complete dynamic modeling of metamorphicmechanism including all configurations is completely established.

关键词： metamorphic mechanism Configuration Huston lower body arrays Transformation matrix Configuration-complete

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A Method for the Configuration Design of a Space Truss Deployable mechanism and Its Application

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International Journal of Plant Engineering and Management 2010年第4期15卷 236-241页

作者： LI Bo Shanghai Key Laboratory of Spacecraft mechanism Shanghai Institute of Aerospace System Engineering Shanghai 201108 P. R. China

A method based on the metamorphic principle is proposed for the analysis of the configuration design of a space truss deployable mechanism. The configuration change and correspondent topological graphs and adjacency matrixes at different work-stage of the mechanism, which is helpful to completely understand the composition and change rules of the metamorphic mechanism, are analyzed to indicate the metamorphic relationship in one working cycle. Furthermore, the static distance matrix, dynamic distance matrix and stiffness matrix of the mechanism are derived to assess the ability of the designed configuration to reveal some of the topological characteristics like compactness, dynamic sensitivity and stiffness. Using this proposed method in a space truss deployable mechanism helps the designer to evaluate its performance at the conceptual stage of design and make a rapid, reasonable selection for configuration design, which provides means for processing its type of analysis by computer.

关键词： space truss deployable mechanism metamorphic mechanism configuration change topology analysis

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Design and Kinematics of a Novel Three DOF Parallel Manipulator

Design and Kinematics of a Novel Three DOF Parallel Manipula...

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2005国际机械工程与力学会议

作者： Ketao ZHANG Yuefa FANG Chuangfeng HUAI Department of Mechanical Engineering Beijing Jiaotong University

A novel 3-DOF parallel manipulator is presented that can be found in a cube paper fold, based on the concept of mechanisms. The parallel manipulator consists of a base plate, a movable platform, and four connecting legs. The moving platform has three degrees of freedom, which are two degrees of rotational freedom and one degree of translational freedom, with respect to the base plate. Each of the connecting leg contains a closed-loop subchain, which is symmetrical six-bar spherical metamorphic mechanism. The new parallel manipulator is very interesting for the reason of only revolute joint architecture, identical limb kinematic chain and symmetrical structure. The configuration design of the new parallel manipulator is introduced. The concept of generalized kinematic pair and screw theory are applied to the mobility analyses of the novel parallel manipulator. And the analysis results provide information on motion characteristics of the parallel manipulator. The inverse and forward kinematics problems are described. The proposed manipulator has a wide application in the fields of industrial robots, simulators, micro-motion manipulators, and parallel kinematics machines.

关键词： parallel manipulator metamorphic mechanism screw theory Mobility kinematics

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