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Alternative TitleTask-orientated Design Method of Practical Constraint Metamorphic Mechanisms
李树军1,2,3; 王洪光2; 李小彭1,2; 杨贺绪3; 戴建生4
Source Publication机械工程学报
Indexed ByEI
EI Accession number20183305687036
Contribution Rank1
Funding Organization国家自然科学基金(51575091,51535008) ; 机器人学国家重点实验室开放基金(2015-O04)资助项目
Keyword约束变胞机构 任务-运动映射 约束循环图 等效阻力 变胞副形式
Other AbstractHow 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.
Document Type期刊论文
Corresponding Author李小彭
Affiliation1.东北大学机械工程与自动化学院 沈阳 110819
2.中国科学院机器人学国家重点实验室 沈阳 110016
3.宁夏理工学院机械工程学院 石嘴山 753000
4.伦敦大学国王学院 伦敦 WC2R 2LS 英国
Recommended Citation
GB/T 7714
李树军,王洪光,李小彭,等. 面向作业任务的约束变胞机构设计方法[J]. 机械工程学报,2018,54(3):26-35.
APA 李树军,王洪光,李小彭,杨贺绪,&戴建生.(2018).面向作业任务的约束变胞机构设计方法.机械工程学报,54(3),26-35.
MLA 李树军,et al."面向作业任务的约束变胞机构设计方法".机械工程学报 54.3(2018):26-35.
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