Structural Synthesis And Derivation Of Metamorphic Kinematic Chains

With the development of manufacturing industry and the expansion of the scale of transformation worldwide, the mechanical systems which is simple structured can not adapt to the exploration and poor working environment or multi-functional requirements.the modern mechanical systems require the modern machine develops towards the reconstruction.In another word,machine can change its topology configuration.By the combination and split of the bar,the change of connecting relationship and changing the type of kinematic pair,The metamorphic can change the machine configuration in the process of the working motion to adapted different working environment and expand the scope of application of mechanism.However,at present,the research of the metamorphic mechanism is just beginning,some problems about the metamorphic mechanism hasn’t yet be solved such as the composition of the metamorphic mechanism,the principle of metamorphic mechanism,the Configuration Synthesis and the realization of the metamorphic kinematic pair.Because it’s a very complex problem to analyse the metamorphic mechanism which involves in the variety of configurations.So it seems very important to search for the Configuration of metamorphic mechanism which is fit the conditions.The elaboration of this thesis start with the composition of the metamorphic mechanism,synthesized the planar seven-bar metamorphic kinematic chains and planar nine-bar kinematic chains with two degree of freedom.Secondly,based on the types of the degree of freedom that kinematic chain with,the basic metamorphic kinematic chains with two-degree of freedom have been divided into three types including the kinematic chains with overall-degree of freedom,the kinematic chains with partial-degree of freedom and the kinematic chains with separation-degree of freedom.Hereby,the selection principles of the metamorphic mechanism were proposed.Finally,the five-bar and seven-bar metamorphic kinematic chains which attained from the configuration synthesis are taken as the prototypes.A large number of new metamorphic kinematic chains were obtained by kinematic pairs transforming,kinematic converting and deriving from kinematic chain.The new kinematic chains and new mechanisms can satisfy many design requirements of metamorphic mechanism.