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Research Papers

Characterization Based Design Under Dual State Vectors

[+] Author and Article Information
Liping Zhang

Department of Mechanical Engineering,
Dalian Polytechnic University,
Dalian 116034, China
e-mail: lipingzhang3@163.com

Delun Wang

Department of Mechanical Engineering,
Dalian University of Technology,
Dalian 116024, China
e-mail: dlunwang@dlut.edu.cn

Guibing Pang, Tian Ji

Department of Mechanical Engineering,
Dalian Polytechnic University,
Dalian 116034, China

Manuscript received April 15, 2013; final manuscript received April 19, 2015; published online June 24, 2015. Assoc. Editor: J. M. Selig.

J. Mechanisms Robotics 7(3), 031022 (Aug 01, 2015) (10 pages) Paper No: JMR-13-1073; doi: 10.1115/1.4030464 History: Received April 15, 2013; Revised April 19, 2015; Online June 24, 2015

This paper presents an automated design that is capable of generating large number of possible design concepts of hybrid combined mechanisms by given only the kinematic functions in requirement specifications. A hybrid mechanism is captured with considering its intrinsic multiple loop kinematic behavior being viewed as several kinematic state transformations. The input and output kinematic characteristic states of a subsystem or a basic mechanism unit are represented by qualitative dual state vectors related by characteristic matrix. Each element of the matrix defines a relative transformation and the operation rules of these transformations are defined. The subsystem characteristic matrix is the product of characteristic matrices of the serialized transformation units or addition of the paralleled. The dual state vectors of all available mechanism units are identified and the combination pattern decomposition rules for subsystem are established. Each set of such basic mechanism units and unit connections is the kinematic-to-structural representation of hybrid mechanism. By successive decomposition of logical hybrid connections, a thorough design process for hybrid mechanism is established. Then, the characteristic matrix of a subsystem can be successively decomposed into various sets of characteristic matrices of basic mechanism units. Due to this modularization of kinematic components and connection patterns, a hybrid system is described in functional hierarchy at two levels as the physical mechanism units and logical combination units which facilitate to map kinematic space to characteristic space till to dual state vector routing operations. This laid a ground work for hybrid mechanism design and examples are given to illustrate the proposed design principles.

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Figures

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Examples of basic mechanism units

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Fig. 2

A RRRRP 5-bar linkage

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Fig. 1

A hybrid mechanism in two-level structure

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Fig. 4

A spatial mechanism unit: skew-gear

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Fig. 5

Serial combination

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Fig. 6

Examples of dual state vector and mechanism unit

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Dual state distribution

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Dual state vector routing scheme

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Fig. 9

Dual state vector based routing decomposition

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Fig. 7

Parallel dual state operations

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Fig. 12

The desired hybrid system

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Fig. 16

Examples of DISO mechanism units

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Fig. 17

Partial of combination units and dual state vectors

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Fig. 14

A combination unit

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Fig. 15

A hybrid combination subsystem

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