The Structures Synthesis Of Constrained Metamorphic Joints Based On The Resistance Gradients

The metamorphic mechanism is a new organization with variable topology configuration and degrees of freedom. The metamorphic principle is constrained the movement of corresponding metamorphic joints by designing the geometric parameters, power constraints, as well as components and metamorphic joints, and change the topology of the institutions of different sessions in order to adapt to different conditions. With the deepening of the theoretical studies of metamorphic mechanism, the demand for the practical application of metamorphic mechanism is gradually upgrading. While existing metamorphic mechanism theory can only meet the requirements of structure transforms, but can not guarantee the configuration keep and movement timing in configuration transformation process. So we propose a theory of metamorphic mechanism synthesis for the metamorphic process.In this paper, the main research content is as follows:(1) Classify the metamorphic kinematic pair according to the different forms of constraint. Design and analysis the common structure of each type of metamorphic joints, and describe its metamorphic processes and principle. We can get the resistance curve of different types of metamorphic joints by analysing resistance changes in metamorphic process. Then summarize the variation rules of force characteristics of metamorphic joints.(2) Based on metamorphic principle through regulating the resistance gradient of metamorphic joints, we apply equivalent resistance gradient to establish the corresponding relationship of constitutive state of metamorphic mechanism, the movement of metamorphic joints and its equivalent resistance gradient. Then reveal the internal relations of equivalent resistance, constraint characteristics, constraint form and the structure of metamorphic joints.(3) According to the combinations of equivalent resistance gradient curve of metamorphic joints, we get all the cases of two metamorphic joints’ combinations in2degrees of freedom metamorphic mechanism.2degrees of freedom metamorphic mechanism is extended to3degrees of freedom to discuss the combinations of three metamorphic joints.(4) Propose a method of metamorphic mechanism synthesis for the whole metamorphic process. At the same time, we describe the main process and procedure of metamorphic mechanism synthesis. Integrate the configuration of material transport operator according to the theory of metamorphic mechanism synthesis proposed by this paper. So the correctness of the theory and feasibility of the method can be verified.