Novel spherical-planar and Bennett-spherical 6R metamorphic linkages with reconfigurable motion branches
Novel spherical-planar and Bennett-spherical 6R metamorphic linkages with reconfigurable motion branches
复制标题
具有可重构运动分支的新型球面-平面和贝内特球面 6R 变质连杆
DOI：
10.1016/j.mechmachtheory.2018.05.001
复制
发表时间：
2018-10
影响因子：
5.2
通讯作者：
Dai Jian S.
中科院分区：
文献类型：
--
作者：
Ma Xuesi;Zhang Ketao;Dai Jian S.
变形连杆机构能够改变其运动分支，可以作为可重构机器人执行各种任务的机构。本文提出了球面6R变胞机构和Bennett球面6R变胞机构两种新型变胞机构，它们都有三个不同的运动分支。建立了球面-平面6R变胞机构的闭环方程，揭示了各运动分支的条件和切换运动分支的一组变换。在此基础上，进一步揭示了这种过约束变形6R机构的固有性质，它既能作球面运动，又能作平面运动，并具有运动性。由于分叉点的几何约束，机构可以重构为展开的球面运动分支、平面运动分支和折叠的球面运动分支。在表示展开球体运动的大球体和表示折叠球体运动的小球体上都可以看到两个球体运动分支。这导致了新型的Bennett-球形6R变质链的发现，该链具有从一个展开的Bennett构型分支到球形构型分支，然后到另一个折叠的Bennett构型分支的转变。给出了这两种变形机构的几何参数，表明这两种机构是Bricard线对称6R机构的特例。
A metamorphic linkage is capable of changing its motion branches and can be used as mechanisms for reconfigurable robots for various tasks. This paper presents two novel metamorphic linkages as the spherical-planar 6R metamorphic linkage and the Bennett-spherical 6R metamorphic linkage both of which have three various distinguished motion branches. Having established the close-loop equation of the spherical-planar 6R metamorphic linkage, the paper reveals the conditions of various motion branches and a set of transformations for switching motion branches. The paper further uses to reveal the inherent properties of this over-constrained metamorphic 6R linkage that is able to perform both spherical and planar motion with mobility one. Because of geometrical constraints at bifurcation points, the linkage is able to reconfigure to the deployed spherical motion branch, the planar motion branch and the folded spherical motion branch. The two spherical motion branches could be seen on both a large sphere that presents the deployed spherical motion and a small sphere that presents the folded spherical motion. This leads to the revelation of the novel Bennett-spherical 6R metamorphic linkage that has the transition from one deployed Bennett configuration branch to a spherical configuration branch and then to another folded Bennett configuration branch. Given the geometric parameters of both metamorphic linkages, it reveals that these linkages are special cases of Bricard line-symmetric 6R linkage.
登录
查看更多内容
DOI：
10.1007/bf01696329
发表时间：
1897-12
期刊：
Monatshefte für Mathematik und Physik
影响因子：
--
作者：
Konrad Zindler
通讯作者：
Konrad Zindler
影响因子：
3.3
作者：
J. Dai;Zhen Huang;H. Lipkin
通讯作者：
J. Dai;Zhen Huang;H. Lipkin
影响因子：
5.2
作者：
Yan Chen;Z. You
通讯作者：
Yan Chen;Z. You
DOI：
10.1115/1.3211023
发表时间：
2009-11
期刊：
Journal of Mechanisms and Robotics
影响因子：
--
作者：
D. Gan;J. Dai;Q. Liao
通讯作者：
D. Gan;J. Dai;Q. Liao
影响因子：
5.2
作者：
C. Galletti;P. Fanghella
通讯作者：
C. Galletti;P. Fanghella