Kinematic Analysis of Myard Circular Network Based on FIS Theory

doi:10.3901/JME.2020.19.132

Abstract

Abstract: In order to reveal the nature and algebraic relation of finite and instantaneous motion of deployable mechanism, the finite and instantaneous screw theory is applied to the analysis of a class of over-constrained deployable mechanism, and a kinematic analysis method including the basic mechanism and the netted mechanism is proposed. Firstly, the basic principle of FIS theory, the composition of Myard mechanism and 3-Myard netted mechanism are briefly introduced. Secondly, initial configuration selection, finite screw based closed-loop equation formulation are combined to build the mapping the joint variables. Then, a finite screw based trajectory calculation is presented with the aid of screw triangle product and the definition of finite motion. According to the differential mapping between finite and instantaneous screws, the velocity model of Myard mechanism is obtained by the differentiation of displacement model. For the 3-Myard netted mechanism, it is simplified into a single closed-loop mechanism by defining a generalized joint, on which basis, the mapping of joint variables are built. The displacement and velocity models of the 3-Myard netted mechanism is finally obtained by using the same analytical process as the Myard mechanism. In the whole, the joint variable mapping, trajectory calculation and velocity modeling of the basic deployable mechanism and the netted mechanism are proposed based on FIS theory. It enriches the deployable mechanism theory and provides new way to the kinematic analysis.

Key words: FIS theory, deployable mechanism, Myard mechanism, Myard netted mechanism, kinematics, motion trajectory

CLC Number:

TH112

GUO Ruifeng, LIAN Binbin, SONG Yimin, QI Yang, SUN Tao. Kinematic Analysis of Myard Circular Network Based on FIS Theory[J]. Journal of Mechanical Engineering, 2020, 56(19): 132-142.

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