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Research Papers

Structure Synthesis of Single-Driven Metamorphic Mechanisms Based on the Augmented Assur Groups

[+] Author and Article Information
Shujun Li

College of Mechanical Engineering and Automation,  Northeastern University, Shenyang 110004, P. R. Chinashjunli@mail.neu.edu.cn

Jian S. Dai

Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, P. R. China; King’s College London,  University of London, Strand, London WC2R 2LS, UKjian.dai@kcl.ac.uk

J. Mechanisms Robotics 4(3), 031004 (May 31, 2012) (8 pages) doi:10.1115/1.4006741 History: Received February 08, 2011; Revised April 23, 2012; Published May 31, 2012; Online May 31, 2012

This paper presents a new way of structure composition of single-driven metamorphic mechanisms to develop a systematic and modularized structure synthesis methodology of metamorphic mechanisms based on augmented Assur groups (AAGs). Planar metamorphic mechanisms can hence be constructed based on the developed AAGs by applying the structure composition rule of general planar mechanisms formed by Assur groups (AGs). First, the one-mobility AAGs are introduced based on class II and class III AGs; the structure formulation and composition methodology of planar metamorphic mechanisms are then proposed based on the AAGs, and the basic problems including mobility and synthesis of constrained metamorphic working mobility-configuration are investigated. This leads to the investigation of the degenerated equivalent AGs of AAGs in the metamorphic process and the corresponding kinematic characteristics, providing references for kinematic synthesis of metamorphic mechanisms. Further, a typical spatial metamorphic group is introduced based on the concept of AAGs, and the structure formation and composition of spatial metamorphic mechanisms are presented. Examples show that both planar and spatial metamorphic mechanisms can be constructed by utilizing the one-mobility blocks extended from the AGs.

Copyright © 2012 by American Society of Mechanical Engineers
Topics: Mechanisms
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References

Figures

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Figure 1

Elements of the class II Assur group

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Figure 2

The nine elements of the class II augmented Assur group

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Figure 3

Some elements of typical class III and class IV Assur groups

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Figure 4

Typical elements of class III and class IV augmented Assur groups

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Figure 5

The proposed structures of metamorphic joints and links using geometric and force constraints

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Figure 6

Planar six-bar linkage and its composition process

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Figure 7

A two-mobility RRPR source metamorphic mechanism and its composing process

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Figure 8

A RRRP source metamorphic mechanism and its composition process

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Figure 9

Four metamorphic working-stage configurations with one class II AAG linkage

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Figure 10

The mechanism of a steel ingot-cutting machine

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Figure 16

Spatial RRSSR source metamorphic mechanism and its composition process

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Figure 17

The one-mobility working configuration with the links being annexed

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Figure 15

The metamorphic hand [43-44]

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Figure 14

The one-mobility metamorphic working configuration

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Figure 13

5R spherical source metamorphic mechanism and its composing process

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Figure 12

Some typical elements of the one-mobility spatial metamorphic group

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Figure 11

The working stages of the metamorphic mechanism extracted from a steel-ingot cutting machine

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