Structural Design and Configuration Analysis of Parallel Mechanism with Metamorphic Joint

doi:10.3901/JME.2020.19.092

Abstract

Abstract: In order to expand the types of metamorphic mechanisms, a metamorphic unit is proposed. A new family of metamorphic kinematic unit composed of three rotational joints is proposed, and the equivalent spherical joint, Hooke joint and rotational joint can be formed by adjusting the position of the rotational joint. Compared with the traditional metamorphic unit which realizes the function of metamorphic by locking the effective rotational joint, the configuration of the metamorphic unit can be switched only by adjusting the axis position, and no additional locking motor is needed. By analyzing the independence of the screw system composed of line vectors, the basic principle of the metamorphic unit is revealed. A limb configuration design method which can be used to construct a new type of metamorphic parallel mechanism is proposed. Based on the reciprocity of screw, the geometric constraints of each limb configuration are analyzed. Two kinds of metamorphic parallel mechanisms are proposed, which can be transformed from 6-DOF configuration to 3-DOF configuration through different limb assembly forms. The parallel mechanism with 3-DOF translational mode and 3-DOF rotational mode is constructed by improving the installation form of limb. The configuration and corresponding motion types of the parallel mechanism assembled by metamorphic limb as central limb are analyzed, and six different configurations of parallel mechanism are obtained.

Key words: metamorphic joint, metamorphic parallel mechanism, screw theory, constraint analysis, configuration analysis

CLC Number:

TG156

JIA Pu, LI Duanling, LI Haiyuan, YAN Xiaojie, GE Zhenghao. Structural Design and Configuration Analysis of Parallel Mechanism with Metamorphic Joint[J]. Journal of Mechanical Engineering, 2020, 56(19): 92-102.

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