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Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints
Li SJ(李树军); Wang HG(王洪光); Meng QL(孟巧玲); Dai JS(戴建生)
作者部门空间自动化技术研究室
关键词Task-based Kinematic Status Equivalent Resistance Constraint Form Structure Of Metamorphic Joint Type Synthesis
发表期刊Mechanism and Machine Theory
ISSN0094-114X
2016
卷号96页码:334-345
收录类别SCI ; EI
EI收录号20155101677515
WOS记录号WOS:000366461100010
产权排序1
资助机构National Natural Science Foundation of China (NSFC) (Grant NO. 51175069 and 51575091), and the State Key Laboratory of Robotics of China (2012-O16 and 2015-O04).
摘要One of the key works in applied metamorphic mechanism design is to obtain the source metamorphic mechanism and the constraint forms and structures of metamorphic joints to carry out given working tasks. The metamorphic cyclogram and the types and combinations of the constraint metamorphic joints for the tasks are presented according to the task-based kinematic rules. The augmented Assur groups are further classified based on the output movement combinations so that the corresponding relationships between the task-based kinematic requirements and the structures of the augmented Assur groups are established, thereby providing a simple way to the synthesis of topological structures of source metamorphic mechanisms based on the augmented Assur groups. The equivalent resistance matrix of the metamorphic joints is introduced from the metamorphic cyclogram and equivalent resistance gradient of the metamorphic joints. The constraint structure matrix is then obtained using the resistance matrix and the constraint forms and structures of the metamorphic joints. The synthesis method of metamorphic mechanisms with the constraint forms and structures of metamorphic joints is described in steps. The task-based design approaches are demonstrated for a reposition metamorphic mechanism for broken strands of the repair robot used in extra-high-voltage power transmission lines. The results show that proposed design theory and method are feasible and practical. © 2015 Elsevier Ltd.
语种英语
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/17566
专题空间自动化技术研究室
通讯作者Li SJ(李树军)
作者单位1.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
2.State Key Laboratory of Robotics of China, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai, China
4.King's College, University of London, Strand, London, United Kingdom
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GB/T 7714
Li SJ,Wang HG,Meng QL,et al. Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints[J]. Mechanism and Machine Theory,2016,96:334-345.
APA Li SJ,Wang HG,Meng QL,&Dai JS.(2016).Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints.Mechanism and Machine Theory,96,334-345.
MLA Li SJ,et al."Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints".Mechanism and Machine Theory 96(2016):334-345.
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