The Research About Design Method And Applications Of Alien Isomorphic Of The New Planar To Space Metamorphic Mechanism

The new planar to space metamorphic mechanism not only can change its topology in the process of movement but also can flexible conversion between plane and space state,it can complete different tasks,and has good engineering application prospects.Take new planar to space metamorphic mechanism as the research object in this paper,then bring the concept of alien isomorphic into the research of metamorphic mechanism,and make metamorphic mechanism produce a variety of geometric shapes while its structure is kept but topology is changed,and carries on the design analysis and applied research.The new planar to space polyhedron metamorphic mechanism and new planar to space spherical metamorphic mechanism are used as the study object at the first in this article,screw theory is used to calculate the DOF of these two types of metamorphic mechanism under the various working state,and adjacency matrix is used to show the connection of component in each working state,azul rod group method is used to type synthesis about the composition unit five-bar mechanism of the new planar to space metamorphic mechanism,and obtain the optimal configuration,dimension synthesis of these two type of planar to space metamorphic mechanism are taken according to the motion constraints,identified the constraints of the relationship between each bar,and obtain reasonable structure size.Then,the new planar to space polyhedron metamorphic mechanism is used as an example to analyze kinematics and dynamics,the spinor method is adopted to forward kinematics analysis of the composition unit five-bar mechanism of the metamorphic mechanism,and obtain the location positive and speed equation of the key point of composition unit five-bar mechanism,D-H method is used to take Inverse kinematics analysis of the composition unit five-bar mechanism,and obtain the inverse position equation of the key point of composition unit five-bar mechanism,the numerical simulation analysis about location positive and speed equation of the key point of composition unit five-bar mechanism is taken,and obtain the location and speed curve of the key point of composition unit five-bar mechanism,the kinematics virtual simulation analysis of the new planar to space polyhedron metamorphic mechanism is taken,then compare the location and speed curve which obtain from numerical simulation and virtual simulation,and the correctness of the kinematics mathematical model was verified.The dynamic mathematical model of composition unit five-bar is established by Using the Lagrange method,and take the specific numerical simulation about it,The virtual simulation of this mechanism is taken,then compare the numerical simulation curve and virtual simulation curve,and the dynamic model is proved to be correct.Then,the new polyhedron metamorphic mechanism is used as an example to analyze the contour evolution principle about it,and evolved it into a variety of shapes,then,take mechanism analysis about polyhedron metamorphic mechanism,spherical metamorphic mechanism and cone metamorphic mechanism,The motion characteristics of three types of mechanism were obtained,spinor method is used to take comparison and analysis about location and speed of these three mechanism,obtain the location and speed curve of the key point of these three mechanism,and comparing the similarities and differences,The comparison and analysis about the workspace of these three mechanism is taken,then obtain the Similarities and differences of working space about these three mechanism,and the configuration of the new planar to space metamorphic mechanism is expanded,and provide a reference for engineering configuration reasonable choice.Finally,the drive of the new planar to space metamorphic mechanism is designed,and take the application research of it,then,apply it to the six areas of packaging robot,solar panels,Deep-sea grasping hands,stadium roof,helicopter dock station and the Protect shell of armored vehicles,and the advantages of application in these fields were analyzed,the corresponding virtual prototype model is designed and the working principle of the engineering application is analyzed.The research about design method and application of alien isomorphic of the new planar to space metamorphic mechanism is added the diversity of metamorphic mechanism’s configuration,it has a better thepretical guidance significance on solving the problem of the diversity of form is satisfied while mechanical structure is unchanged,promotes the innovation of design technology of metamorphic mechanism,and promote the engineering machinery to a greater degree to meet the diversified and multi-level needs of engineering work to a certain extent,it has good engineering application prospects.