Research Papers

Dimensional Synthesis of a MultiLoop Linkage With Single Input Using Parameterized Curves

[+] Author and Article Information
Amin Moosavian

Department of Aerospace Engineering,
University of Michigan,
Ann Arbor, MI 48109
e-mail: amoosavi@umich.edu

Cong Zhu (John) Sun, Fengfeng (Jeff) Xi

Department of Aerospace Engineering,
Ryerson University,
Toronto, ON M5B 2K3, Canada

Daniel J. Inman

Department of Aerospace Engineering,
University of Michigan,
Ann Arbor, MI 48109

1Corresponding author.

Manuscript received August 25, 2016; final manuscript received December 24, 2016; published online March 9, 2017. Assoc. Editor: Venkat Krovi.

J. Mechanisms Robotics 9(2), 021007 (Mar 09, 2017) (9 pages) Paper No: JMR-16-1247; doi: 10.1115/1.4035799 History: Received August 25, 2016; Revised December 24, 2016

In this paper, a new design is presented for shape morphing using parameterized curves. Inspired by minimal actuation effort, a multiloop linkage is designed with a single input, allowing a morphing curve to take on three distinct shapes. The underlying design is based on a network of four-bar linkages connected together to form a multiloop linkage, referred to as the curve adaptive linkage array (CALA). A three-step method is developed and presented here to find the geometric dimensions of the CALA. The proposed solution is based on the simultaneous recursive solving of the traditional single-loop dyad equations for multiple loops. The key in obtaining a feasible solution is through parameterization of the curves that the linkage is required to morph. To show the effectiveness of the method, an airfoil morphing application is presented, solved using the proposed method, and validated by a prototype. The presented synthesis method provides an effective means for designing a multiloop linkage with a single input.

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Fig. 1

A single building block (loop) of the CALA

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Fig. 2

The double module CALA would be similar to the Watt II linkage

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Fig. 3

The morphing curves are formed by connecting the tracer points

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Fig. 4

One loop of the CALA decomposed into dyads; the right side is not shown for clarity

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Fig. 5

The proposed solution for a CALA used in an airfoil morphing application (joints not shown for clarity)

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Fig. 6

cad realization of a section of the wing with the CALA incorporated into it. The position shown corresponds to morphing curve 1.

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Fig. 7

The prototype (top) and simulation (bottom) show the three distinct shapes obtained by controlling the single actuation input (depicted by the arrow). From left to right: positions 1, 2, and 3.

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Fig. 8

Three-loop solution to morph the three arbitrary curves for the second example with prescribed values shown in Table 15 (set I)

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Fig. 9

Three-loop solution to morph the three arbitrary curves for the second example with prescribed values shown in Table 19 (set II)




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