Task-orientated Design Method of Practical Constraint Metamorphic Mechanisms

doi:10.3901/JME.2018.03.026

Abstract

Abstract: How to design constraint metamorphic mechanisms according to the requirements of tasks, especially involved with the types of metamorphic kinematic pairs and the ways of constraints, is one of the key issues to be urgently solved during the practical application of metamorphic mechanisms. With the decomposition of the tasks, the corresponding configurations and movement output forms of metamorphic mechanisms are mapped, and as well as the types and constraint period of metamorphic kinematic pairs are achieved. Based on it, a task-based metamorphic mechanisms diagram concerned with the output motions and the constraints is presented. Subsequently, according to the types of metamorphic kinematic pairs as well as their adjacent relations, the movement output forms generated by the augmented Assur groups are summarized. Further, the relationships between the movement forms and constraint combinations of metamorphic mechanisms and the augmented Assur groups are established, which results in a convenient design of source metamorphic mechanisms. Followed by it, the constraint forms and structures of metamorphic kinematic pairs in the constraint metamorphic mechanisms is solved by studying the relationship between the task-based metamorphic mechanisms diagram and the gradien variation of equivalent resistance in the metamorphic mechanisms, which is further applied to the source metamorphic mechanisms so as to achieve whole metamorphic mechanisms with constraint forms of metamorphic kinematic pairs. Then, considering the influences such as process conditions and movement reliability, the metamorphic mechanisms meeting the requirments of the tasks is choosed from them. In the end, the feasibility and effectiveness of the proposed theory and method are demonstrated and verified.

Key words: combined cyclogram, constraint metamorphic mechanisms, equivalent resistance, forms of metamorphic joint, task-motion mapping

CLC Number:

TH112

LI Shujun, WANG Hongguang, LI Xiaopeng, YANG Hexu, DAI Jiansheng. Task-orientated Design Method of Practical Constraint Metamorphic Mechanisms[J]. Journal of Mechanical Engineering, 2018, 54(3): 26-35.

References

[1] DAI J S,REES J J. Mobility in metamorphic mechanisms of foldable/erectable kinds[J]. Transactions of the ASME: Journal of Mechanical Design,1999,121(3):375-382.
[2] PARISEJ J,HOWELLL L,MAGLEBYS P. Ortho-planar mechanisms[C]// Proc. 26th Biennial Mechanisms and Robotics Conference,2000,Baltimore.
[3] 李端玲,戴建生,张启先,等. 基于构态变换的变胞机构综合[J]. 机械工程学报,2002,38(7):2-16. LI Duangling,DAI Jiansheng,ZHANG Qixian,et al. Structure synthesis of metamorphic mechanisms based on the configuration transformations[J]. Chinese Journal of Mechanical Engineering,2002,38(7):2-16.
[4] LIU C H,YANG T L. Essence and characteristics of metamorphic mechanisms and their metamorphic ways[C]// Proc. 11th World Congress in Mechanism and Machine Science,Tianjing,2004,China:Mechanical Engineering Press,2004:1285-1288.
[5] 王德伦,戴建生. 变胞机构及其综合的理论基础[J]. 机械工程学报,2007,43(8):32-42. WANG Delun,DAI Jiangsheng. Theoretical foundation of metamorphic mechanisms and its synthesis[J]. Chinese Journal of Mechanical Engineering,2007,43(8):32-42.
[6] DING X L,YANG Y. Investigation of reconfiguration theory based on an assembly-circlesartifact[C]// ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots,June 22-24, 2009,London,United Kingdom:456-463.
[7] ZHANG L P,DAI J S. Metamorphic techniques and geometric reconfiguration principles[C]// ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots,June 22-24,2009,London,United Kingdom:32-40.
[8] 李树军,戴建生. 基于扩展Assur杆组的变胞机构组成原理[J]. 机械工程学报,2009,46(10):19-28. LI Shujun,DAI Jiangsheng. On the structure of metamorphic mechanisms based on augmented assur groups[J]. Journal of Mechanical Engineering,2009,46(10):19-28.
[9] GAN D M,DAI J S,LIAO Q Z. Mobility change in two types of metamorphic parallel mechanisms[J]. Transactions of the ASME:Journal of Mechanisms and Robotics,2009,1(4):041007_1-9.
[10] LI S J,DAI J S. Structure synthesis of single-driven metamorphic mechanisms based on the augmented Assur groups[J]. Transactions of ASME,Journal of Mechanisms and Robotics,2012,4(3):031004-1-8.
[11] LAN Z H. Structure and evolution of planar metamorphic mechanisms[C]// CCMMS 2010,Shanghai,China:104-106.
[12] ZANG K,DAI J S,Fang Y. Topology and constraint analysis of phase change in the metamorphic chain and its evolved mechanism[J]. Transactions of the ASME:Journal of Mechanical Design,2010,132(12):121001_1-11.
[13] GAN D M,DAI J S,LIAO Q Z. Constraint analysis on mobility change of a novel metamorphic parallel mechanism[J]. Mechanism and Machine Theory,2010,45(12):1864-1876.
[14] ZHANG W X,DING X L,DAI J S. Morphological synthesis of metamorphic mechanisms based on constraint variation[J]. Journal of Mechanical Engineering Science,2011,225(12):2297-2310.
[15] LI S J,WANG H G,YANG Q. Constraint force analysis of metamorphic joints based on the augmented assur groups[J]. Chinese Journal of Mechanical Engineering. 2015,28(4):747-755.
[16] LI S J, WANG H G, DAI J S. Assur-group inferred structural synthesis for planar mechanisms[J]. Transactions of ASME,Journal of Mechanisms and Robotics,2015,7(4):041001.
[17] AIMEDEE F,GOGU G,DAI J S,et al. Systematization of morphing in reconfigurabale mechanisms[J]. Mechanism and Machine Theory,2016,96(part 2):215-224.
[18] LI S J,DAI J S. Advances in Reconfigurable Mechanisms and RoboticsⅠ[M]. Springer,2012.
[19] 杨强, 王洪光, 李树军,等. 含变胞运动副结构的约束变胞机构构型综合[J]. 机械工程学报,2014,50(13):1-8. YANG Qiang, WANG Hongguang, LI Shujun, et al. Type synthesis of constrained metamorphic mechanisms with structural forms of the metamorphic joints[J]. Journal of Mechanical Engineering,2014,50(13):1-8.