Configuration Analyses And Structure Syntheses Of Metamorphic Mechanisms

The conception of Metamorphic mechanisms has been presented at the25th ASME Biennial Mechanisms and Robotics Conference. It is not same as traditional organization, whose topology and freedoms of motion are unvarying. The connection of between the bars and the freedoms of motion are varying when Metamorphic mechanisms complete several stages. The configuration of these mechanisms will change more than once when they are working, also their effective links and freedoms of motion are varying, then they become to new mechanisms. So they could be used to several conditions, and they privide new mechanisms with different degree of freedom.Because the topology and freedoms of motion are variational when the Metamorphic mechanisms are working, and that reason makes the study of these mechanisms more complicated than before. It not only involves structures, kinematic and dynamic, but also relates to graph theory, Lie Algebra and screw theory, so it is a syntaxic research field. It alter the conception and design method of the traditional mechanisms, and it injects new vigor and vitality into Mechanism. The study of Metamorphic mechanisms has been a hot foucus of Mechanisms at present in the world.Main works in this paper:Fristly:Analyse the DOF of Metamorphic mechanisms and summarize all kinds of conditions formula. In order to illuminate that the DOF of Metamorphic mechanisms is different from ordinary ones, this thesis gives two examples-one is a kind of planar brake Metamorphic mechanisms, the other is a mechanism that controls size of steel. Then discover the true nature of Metamorphic mechanisms.Secondly:Analyse the configuration of Metamorphic mechanisms. In order to introduce the mothod of analysis configuration, this paper apply adjacency matrix to express the relation between bars, and apply graph theory to express topological structure, and introduce several motheds of configuration analyses. Simplify the solution of metamorphic matrix, and testify veracity and efficiency of this mothed by simples.Thirdly:Computer-aided synthesize the metamorphic mechanisms. Take five to six bars as example to elaborate combined process, and using computer-aided obtain all the synthesize program.Forthly:Computer-aided identify isologue. It is a very important issue of the structure synthesis. There are many methods to distinguish two mechanisms are isomorphism or not. This study is base on characteristic value and characteristic vector of adjacencymatrix, using computer-aided to distinguish the results of the fouth chapter isomorphism, obtain all the synthesize program of anti-isomorphism.