Structural Analysis And Synthesis Of Parallel Metamorphic Mechanism

Parallel metamorphic mechanism is a new class of parallel mechanism with metamorphic characteristics. It combines the advantages of parallel mechanism and metamorphic mechanism, such as large carrying capacity, high precision, variable topology and variable degrees of freedom. Therefore parallel metamorphic mechanism can satisfy more complex and diverse functional requirements and adapt to work environment.Firstly, by studying the essence of parallel metamorphic mechanism, the definition of parallel metamorphic mechanism is given. By studying its metamorphic ways parallel metamorphic mechanism is classified, revealing the structure and composition characteristics of parallel metamorphic mechanism. Several methods to describe the parallel metamorphic mechanism are introduced.Secondly, to simplify the configuration transformation analysis using the existing adjacency matrix method, a new method based on block adjacency matrix to analyze the configuration transformations of metamorphic parallel mechanisms is proposed. Manipulations of the block adjacency matrix for analyzing the metamorphic transformations are presented systematically. Based on block adjacency matrix, a three-dimensional block adjacency matrix method with binary code to describe joints is further presented. Then combined with screw theory, a screw block adjacency matrix method is proposed to reveal metamorphic essence of parallel metamorphic mechanism. The above provides a series of new analysis methods for parallel metamorphic mechanism.Thirdly, a practical design theory of parallel metamorphic mechanism is elaborated. A creative design example of parallel metamorphic mechanism is introduced to improve the synthesis theory system of parallel metamorphic mechanism.Finally, a new3-CPU parallel metamorphic manipulator is analyzed from the design needs to3D model. Particularly mechanical structure of the metamorphic U joint and its working principle based on gear engagement is elaborated in detail.Above all, three analytical methods, a practical synthesis theory and a novel design method are introduced to improve the theoretical system of the parallel metamorphic mechanism.