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题名: Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints
作者: 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
刊名: Mechanism and Machine Theory
ISSN号: 0094-114X
出版日期: 2016
卷号: 96, 页码:334-345
收录类别: SCI ; EI
产权排序: 1
项目资助者: 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
WOS记录号: WOS:000366461100010
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/17566
Appears in Collections:空间自动化技术研究室_期刊论文

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Recommended Citation:
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.
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