Three Novel Symmetric Waldron-Bricard Metamorphic and Reconfigurable Mechanisms and Their Isomerization
Three Novel Symmetric Waldron-Bricard Metamorphic and Reconfigurable Mechanisms and Their Isomerization
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三种新型对称Waldron-Bricard变质和可重构机制及其异构化
DOI：
10.1115/1.4044004
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Dai Jian S
中科院分区：
文献类型：
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作者：
Chai Xuheng;Dai Jian S
研究了一类既属于沃尔德龙双Bennett混合机构又属于Bricard机构的变胞可重构机构，包括三种新型对称Waldron-Bricard变胞可重构机构，并进一步给出了它们的三种扩展异构变胞机构。这三种新型Waldron-Bricard变胞机构和可重构机构具有线对称、面对称和线-面对称的特征。通过积分两个相同的一般班尼特回路，得到了一个沃尔德龙运动分支、两个一般线对称Bricard运动分支和三个特殊线对称Bricard运动分支的新型线对称Waldron-Bricard变胞连杆机构.通过合并两个等边班尼特环，得到了具有两个平面对称运动分支的新型平面对称Waldron-Bricard可重构连杆机构。通过将两个相同的等边班尼特环进行混合，得到了一种新颖的具有六个运动分支的线面对称Waldron-Bricard变胞机构，包括平面对称沃尔德龙运动分支、线面对称Bricard运动分支、球面4 R运动分支和三个特殊的线对称Bricard运动分支.通过改变机构结构但保留所有连杆和关节的异构化，三种新颖的Waldron-Bricard连杆机构中的每一种都导致了扩展的异构变胞连杆机构。这进一步发展到三种异构机制的研究。通过对这三种新型变胞重构机构及其异构化的研究，揭示了机构的分支特性和运动分支变换。此外，通过探索给定的运动分支的交集，并使用异构化的方法，可以发现更多的变形和可重构的连杆机构，以有效地处理可能的子运动之间的过渡。
This paper explores a class of metamorphic and reconfigurable linkages belonging to both Waldron's double-Bennett hybrid linkage and Bricard linkages, which include three novel symmetric Waldron–Bricard metamorphic and reconfigurable mechanisms, and further presents their three extended isomeric metamorphic linkages. The three novel Waldron–Bricard metamorphic and reconfigurable linkages are distinguished by line-symmetric, plane-symmetric, and line-plane-symmetric characteristics. The novel line-symmetric Waldron–Bricard metamorphic linkage with one Waldron motion branch and two general and three special line-symmetric Bricard motion branches is obtained by integrating two identical general Bennett loops. The novel plane-symmetric Waldron–Bricard reconfigurable linkage with two plane-symmetric motion branches is obtained by coalescing two equilateral Bennett loops. The novel line-plane-symmetric Waldron–Bricard metamorphic linkage with six motion branches is obtained by blending two identical equilateral Bennett loops, including the plane-symmetric Waldron motion branch, the line-plane-symmetric Bricard motion branch, the spherical 4R motion branch, and three special line-symmetric Bricard motion branches. With the isomerization that changes a mechanism structure but keeps all links and joints, each of the three novel Waldron–Bricard linkages results in an extended isomeric metamorphic linkage. This further evolves into the study of the three isomeric mechanisms. The study of these three novel metamorphic and reconfigurable mechanisms and their isomerization are carried out to demonstrate the characteristics of bifurcation and to reveal motion-branch transformation. Furthermore, by exploring the intersection of given motion branches and using the method of isomerization, more metamorphic and reconfigurable linkages can be discovered to usefully deal with transitions among possible submotions.