Research Papers

Reconfiguration of Spatial Metamorphic Mechanisms

[+] Author and Article Information
Liping Zhang

Department of Mechanical Engineering, King’s College London, University of London, Strand, London WC2R 2 LS, UKliping.zhang@kcl.ac.uk

Jian S. Dai

Department of Mechanical Engineering, King’s College London, University of London, Strand, London WC2R 2 LS, UKjian.dai@kcl.ac.uk

J. Mechanisms Robotics 1(1), 011012 (Aug 05, 2008) (8 pages) doi:10.1115/1.2963025 History: Received June 17, 2008; Revised June 30, 2008; Published August 05, 2008

This paper investigates reconfiguration of metamorphic mechanisms as a typical character of topological change of the mechanisms. Metamorphic mechanisms with reconfigurable topology provide changed topological states and subsequently change the mobility to give various subphase mechanisms. This paper investigates the built-in spatial modules extended with metamorphic characteristics to develop a metamorphosis operation based on building blocks in the form of spatial kinematic pairs and associated links. The composition principle of a metamorphic mechanism gives the mechanism characteristics and generates subphase working mechanisms. These working mechanisms change and develop into different forms in an evolutionary process of topological change and the proposed module composition principle in metamorphic mechanisms leads to the development of module topology variation and reconfiguration operations based on algebraic properties of Lie displacement-subgroup. The topology transformation is further used for configuration aggregation and degeneration and all the linkage operations are based on set theoretic, leading to topological reconfiguration of metamorphic mechanisms that maps a source metamorphic mechanism into various subphase configurations. This paper demonstrates the principle with case studies from a metamorphic mechanism generator to subphase mechanisms and vice versa.

Copyright © 2008 by American Society of Mechanical Engineers
Topics: Mechanisms
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Figure 6

Union aggregation on modules Yv,p and HNv,p

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Figure 7

Reproduction on modules (RNu)+ and UNvw

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Figure 8

Intersection degeneration on modules Gu and Gw

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Figure 9

Subtractive degeneration on modules Yw,p and HNw,p

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Figure 10

A spatial RRRSR

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Figure 11

Configurations of subphase mechanisms (a) M1:3‐(RAuRAvRAw)CAwTv (b) M2:3‐RBuCBvTuTw

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Figure 12

6-mobility source metamorphic mechanism

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Figure 1

Multiple configuration phases of a metamorphic mechanism (a) Phase I: R1SHR2P five-bar (b) Phase II: R1R2HR3R4 five-bar (c) Phase III: RSSP four-bar

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Figure 2

Source metamorphic mechanism for Fig. 1

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Figure 3

Reconfigure a source metamorphic mechanism into subphase working mechanisms

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Figure 4

An illustration for a spatial linkage RSHSC with multiple modules

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Figure 5

Topological configurations of a source metamorphic mechanism shown in Fig. 2




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