Investigation and Development of a New Class of Mechanisms: Metamorphic Mechanisms with Reconfigurability

一类新型机构的研究和开发：可重构的变形机构

• 批准号: EP/E012574/1
• 负责人: Jian Dai
• 金额: $ 27.55万
• 依托单位: King's College London
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2007
• 资助国家: 英国
• 起止时间: 2007 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FE012574%2F1
• 关键词: Investigation; Development; New; Class; Mechanisms

Mechanisms are fundamental parts of machines and robotic devices. The recently emerging new class of mechanisms have attracted a substantial number of researchers in the world with the changeable structures and mobility. The new class of mechanisms can subsequently change the functionality and adapt to various environments and different working tasks. This is the characteristic that distinguishes the new mechanisms from traditional mechanisms.This fundamental and adventurous research is to look into the characteristics particularly reconfigurability of the new mechanisms and investigate the topology synthesis which integrates the leading-edge synthesis method into the unique topology change of the new mechanisms to produce a sound and solid theoretical basis of the mechanisms and to develop both theoretical framework and practical use of the self-reconfigurability of the mechanisms. The metamorphic concept and its use in reconfigurability as well as dynamic reconfigruability are to be explored and a test rig is to be modified with reconfigurability and metamorphic mechanisms as a development platform. Based on this platform, a topology based dynamic model and a control strategy of dynamic reconfigurability is to be developed, both stability and controllability are to be examined.The proposed research is the leading-edge research in mechanism development and adventurous in dynamic reconfigurability. It will establish a theoretical basis of the new mechanisms and provide researchers in both academic and industrial establishments with reconfigurability modelling, topology synthesis, dynamic analysis and control algorithms of the new mechanisms.

机构是机器和机器人装置的基础部件。近年来出现的一类新型机构以其结构的多变性和可动性吸引了国内外大量的研究者。新的机构类别可以随后改变功能并适应各种环境和不同的工作任务。这是新型机构区别于传统机构的特点，本研究的基础性和冒险性在于研究新型机构的特征，特别是可重构性，并研究集成了主导结构和可重构性的拓扑综合方法。边综合法引入到独特的拓扑变化的新型机构中，为产生健全而坚实的机构理论基础，并发展出既有理论框架又实际使用的自我重构机制。探讨了变胞概念及其在可重构性和动态可重构性中的应用，并以可重构性和变胞机构为开发平台对试验台进行了改造。在此基础上，建立了基于拓扑结构的动力学模型和动态可重构控制策略，并对稳定性和可控性进行了分析，是机构学研究的前沿，也是动态可重构性研究的开拓。它将为新机构奠定理论基础，并为学术和工业机构的研究人员提供新机构的可重构建模、拓扑综合、动力学分析和控制算法。

项目成果

Mobility Change in Two Types of Metamorphic Parallel Mechanisms

• DOI: 10.1115/1.3211023
• 发表时间: 2009-11
• 期刊: Journal of Mechanisms and Robotics
• 作者: D. Gan;J. Dai;Q. Liao

Constraint-Based Limb Synthesis and Mobility-Change-Aimed Mechanism Construction

基于约束的肢体合成和针对运动变化的机制构建

• DOI: 10.1115/1.4003920
• 发表时间: 2011-05
• 期刊: Journal of Mechanical Design
• 影响因子: 3.3
• 作者: Caldwell, Darwin G.;Dai, Jian S.;Gan, Dongming
• 通讯作者: Gan, Dongming

Euler-Rodrigues formula variations, quaternion conjugation and intrinsic connections

欧拉-罗德里格斯公式变体、四元数共轭和内在联系

• DOI: 10.1016/j.mechmachtheory.2015.03.004
• 发表时间: 2015-10-01
• 期刊: MECHANISM AND MACHINE THEORY
• 影响因子: 5.2
• 作者: Dai, Jian S.

Surgical robotics and its development and progress

• DOI: 10.1017/s0263574709990877
• 发表时间: 2010-01
• 期刊: Robotica
• 影响因子: 2.7
• 作者: J. Dai

Geometry constraint and branch motion evolution of 3-pup parallel mechanisms with bifurcated motion

• DOI: 10.1016/j.mechmachtheory.2012.09.011
• 发表时间: 2013-03
• 期刊: Mechanism and Machine Theory
• 影响因子: 5.2
• 作者: D. Gan;J. Dai