Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints
	Li SJ(李树军); Wang HG(王洪光); Meng QL(孟巧玲); Dai JS(戴建生)
刊名	Mechanism and Machine Theory
	2016
卷号	96 页码:334-345
关键词	Task-based Kinematic status Equivalent resistance Constraint form Structure of metamorphic joint Type synthesis
ISSN号	0094-114X
通讯作者	李树军
产权排序	1
中文摘要	One of the key works in applied metamorphic mechanism design is to obtain the source metamorphic mechanism and the constraint forms and structures of metamorphic joints to carry out given working tasks. The metamorphic cyclogram and the types and combinations of the constraint metamorphic joints for the tasks are presented according to the task-based kinematic rules. The augmented Assur groups are further classified based on the output movement combinations so that the corresponding relationships between the task-based kinematic requirements and the structures of the augmented Assur groups are established, thereby providing a simple way to the synthesis of topological structures of source metamorphic mechanisms based on the augmented Assur groups. The equivalent resistance matrix of the metamorphic joints is introduced from the metamorphic cyclogram and equivalent resistance gradient of the metamorphic joints. The constraint structure matrix is then obtained using the resistance matrix and the constraint forms and structures of the metamorphic joints. The synthesis method of metamorphic mechanisms with the constraint forms and structures of metamorphic joints is described in steps. The task-based design approaches are demonstrated for a reposition metamorphic mechanism for broken strands of the repair robot used in extra-high-voltage power transmission lines. The results show that proposed design theory and method are feasible and practical. © 2015 Elsevier Ltd.
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000366461100010
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/17566]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Li SJ,Wang HG,Meng QL,et al. Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints[J]. Mechanism and Machine Theory,2016,96:334-345.
APA	Li SJ,Wang HG,Meng QL,&Dai JS.(2016).Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints.Mechanism and Machine Theory,96,334-345.
MLA	Li SJ,et al."Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints".Mechanism and Machine Theory 96(2016):334-345.