Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints

Li, Shujun; Wang, Hongguang; Meng, Qiaoling; Dai, Jian S.

doi:10.1016/j.mechmachtheory.2015.08.021

Cited by 30 publications

(7 citation statements)

References 11 publications

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“…Kong et al [23,24] presented structural syntheses of a class of variable-DOF single-loop mechanisms and 3-4R two-DOF parallel mechanisms. Li et al [25][26][27] introduced the augmented Assur group used in the structural theory of metamorphic mechanisms, which is similar to the Assur groups in general planar mechanisms. Li and Dai [28] presented an equivalent resistance gradient model for metamorphic mechanisms.…”

Section: Introductionmentioning

confidence: 99%

“…Constrained structures and force characteristic sketches of metamorphic joints (This figure is reprinted with permission from Ref [26],. Copyright (2015) Elsevier)…”

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confidence: 99%

“…Structural sketch map of tablet press machine Broken strand repositioning component (This figure is reprinted with permission from Ref [26],. Copyright (2015) Elsevier) Source metamorphic mechanism for the repositioning machine…”

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confidence: 99%

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Practical Structural Design Approach of Multiconfiguration Planar Single-Loop Metamorphic Mechanism with a Single Actuator

Yang

Hao

et al. 2020

Chin. J. Mech. Eng.

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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.

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Section: Introductionmentioning

confidence: 99%

“…Constrained structures and force characteristic sketches of metamorphic joints (This figure is reprinted with permission from Ref [26],. Copyright (2015) Elsevier)…”

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confidence: 99%

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Practical Structural Design Approach of Multiconfiguration Planar Single-Loop Metamorphic Mechanism with a Single Actuator

Yang

Hao

et al. 2020

Chin. J. Mech. Eng.

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“…The variation mode of metamorphic mechanism has been added to variable attribute of components, variable orientation of kinematic joints, friction self-locking joint units (Gan et al, 2009(Gan et al, , 2010Zhang et al, 2013;Ding and Li, 2015;Ye et al, 2016). Therefore, in order to create topological variations in the characteristics of mechanisms in different configurations, the appropriate structural representation for a metamorphic mechanism has been researched (Li et al, 2011a(Li et al, , 2016.…”

Section: Introductionmentioning

confidence: 99%

A holographic matrix representation of the metamorphic parallel mechanisms

2019

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Metamorphic mechanisms belong to the class of mechanisms that are able to change their configurations sequentially to meet different requirements. In this paper, a holographic matrix representation for describing the topological structure of metamorphic mechanisms was proposed. The matrix includes the adjacency matrix, incidence matrix, links attribute and kinematic pairs attribute. Then, the expanded holographic matrix is introduced, which includes driving link, frame link and the identifier of the configurations. Furthermore, a matrix representation of an original metamorphic mechanism is proposed, which has the ability to evolve into various sub-configurations. And evolutionary relationships between mechanisms in sub-configurations and the original metamorphic mechanism are determined distinctly. Examples are provided to demonstrate the validation of the method.

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“…Meanwhile, according to the functional requirements or changes in the environment, metamorphic mechanisms can adapt to different tasks and be flexibly applied to different occasions by changing its configuration in motion and self-restructuring or reconstruction. It is well known that the constraint metamorphic mechanism is a metamorphic mechanism that constrains movement cycles of metamorphic joints and is commonly used in practical operation, which is easy to control and realize [12]. Li et al [13] proposed a method for designing the configuration of constraint metamorphic mechanisms according to the task requirements, which include the types of metamorphic kinematic pairs and the ways of constraints.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Modeling and Analysis of a Novel Constraint Metamorphic Reversible Plough

Song

Chang

Jin

et al. 2019

Mathematical Problems in Engineering

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To meet the requirements of different farming objects, this paper presents a novel constraint metamorphic reversible plough (CMRP) which has four distinct working phases and the feature of underactuation, and its prototype has been manufactured for practical testing purposes. Firstly, the kinematics of the mechanism in each phase are studied systematically with the closed-loop vector method, including displacement, velocity, and acceleration analysis. Considering the underactuated characteristics of the mechanism in the source phase, its dynamic models in the source phase are further established by the Lagrange equation. Based on the theory that velocity and acceleration are the same in an extremely brief period, the motion laws of the slider in the source phase can be obtained. To obtain the constraint force/torque acting on the crucial joints in each phase, the dynamic model of the CMRP is established by the Newton–Euler equation. Furthermore, the initial position of the CMRP with a flexible prismatic joint can be determined using the static balance equation. Finally, the obtained kinematic and dynamic models of the CMRP in each phase are verified, respectively, through comparing the simulation results in SolidWorks and Matlab software, and the experiment with the prototype is conducted. The CMRP proposed in this study provides a feasible technical scheme for improving the capability of reversible plough over unknown and complex terrains.

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Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints

Cited by 30 publications

References 11 publications

Practical Structural Design Approach of Multiconfiguration Planar Single-Loop Metamorphic Mechanism with a Single Actuator

Practical Structural Design Approach of Multiconfiguration Planar Single-Loop Metamorphic Mechanism with a Single Actuator

A holographic matrix representation of the metamorphic parallel mechanisms

Dynamics Modeling and Analysis of a Novel Constraint Metamorphic Reversible Plough

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