Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and Its Evolved Mechanism
- 23 November 2010
- journal article
- Published by ASME International in Journal of Mechanical Design
- Vol. 132 (12), 121001
- https://doi.org/10.1115/1.4002691
Abstract
This paper presents a metamorphic kinematic pair extracted from origami folds in the context of mechanisms, its evolved metamorphic chain, and the novel metamorphic parallel mechanism. This paper starts from the generic issues of topological representation for metamorphic mechanism, leading to unified elementary matrix operation for presentation of topological variation. Phase matrix and augmented adjacency matrix are developed to present the topological state and geometry of metamorphic mechanism in an evolutionary process. The metamorphic kinematic pair has the ability of changing mobility to generate different motion patterns based on mobility change correlated with the link annex induced topological phase change. This paper then investigates topological variation of the metamorphic chain and the topological subphases are enumerated in accordance with structure evolution. Using the metamorphic chain as chain-legs, a multiloop metamorphic mechanism with ability of performing phase change and orientation switch is constructed. The disposition of constraints and geometric constraints induced bifurcated motion are analyzed based on screw theory. The topological variation of the metamorphic parallel mechanism is addressed and the foldability is verified by physical device.Keywords
This publication has 27 references indexed in Scilit:
- Reconfiguration of Spatial Metamorphic MechanismsJournal of Mechanisms and Robotics, 2008
- Representation of Topological Changes in Metamorphic Mechanisms With Matrices of the Same DimensionJournal of Mechanical Design, 2008
- Biological Modeling and Evolution Based Synthesis of Metamorphic MechanismsJournal of Mechanical Design, 2008
- Topological Representations and Characteristics of Variable Kinematic JointsJournal of Mechanical Design, 2005
- Simplified Manufacturing Through a Metamorphic Process for Compliant Ortho-Planar MechanismsPublished by ASME International ,2005
- Matrix Representation of Topological Changes in Metamorphic MechanismsJournal of Mechanical Design, 2004
- Sprained Ankle Physiotherapy Based Mechanism Synthesis and Stiffness Analysis of a Robotic Rehabilitation DeviceAutonomous Robots, 2004
- Ortho-Planar MechanismsPublished by ASME International ,2000
- A six-component contact force measurement device based on the Stewart platformProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2000
- Mobility in Metamorphic Mechanisms of Foldable/Erectable KindsJournal of Mechanical Design, 1999