Research on Configuration-Complete Dynamic Modeling of Metamorphic Mechanism Based on Screw Theory

Abstract

Kane dynamics equations of metamorphic mechanism based on screw theory is built, and the constraint equation with cut-off joint is completed by introducing exponentials formula. The configuration-complete dynamics equations of metamorphic mechanism is established with this two equations combined. The configuration-complete dynamics equations of the metamorphic mechanism in cutting machine for complex-surface is built using this method.

Dynamics Modeling and Analysis of a Novel Constraint Metamorphic Reversible Plough

“…Gan et al [23] presented a unified inverse kinematic and dynamic model of a metamorphic parallel mechanism with pure rotation and pure translation phases by using the Newton-Euler method. Jin et al [24,25] established dynamic equations of the metamorphic mechanism for an arbitrary configuration according to Kane's equations. From these literatures, we know that the Lagrange equation needs to get the kinetic energy and potential energy of each part of the constraint metamorphic mechanism; the Newton-Euler method and Kane method involve differential equation causing the increase of calculated amount; the D'Alembert method states that the sum of the external forces, inertia forces, and joint forces is zero; the virtual work principle is known as the work of a force on a particle along a virtual displacement.…”