Structure Synthesis of Multi-DOF Planar Metamorphic Mechanisms With a Single Driver

2020 ◽  
Author(s):  
Qiang Yang ◽  
Andrew P. Murray ◽  
David H. Myszka ◽  
Shujun Li
Keyword(s):  
Structural Design ◽  
Design Method ◽  
Degree Of Freedom ◽  
Source Mechanism ◽  
Equivalent Resistance ◽  
Structural Synthesis ◽  
Metamorphic Mechanism ◽  
Resistance Matrix ◽  
Kinematic Diagram ◽  
Metamorphic Mechanisms

Abstract This paper approaches the type synthesis of multi-degree of freedom planar metamorphic mechanisms with a single driver in a systematic process. The process is facilitated by implementing a constraint status matrix and a equivalent resistance matrix as a method for identifying an appropriate structure of planar metamorphic mechanisms with a single driver. Multi-structures can be obtained from the same source metamorphic mechanism by designing different constraint architectures of metamorphic joints. To determine the constraint architectures of metamorphic joints and their different assembly combinations, the constraint status matrix is built based on the task-based metamorphic cyclogram of a source mechanism. According to the equivalent resistance gradient model and the constraint status matrix, an equivalent resistance matrix for the metamorphic joints is proposed. A structural synthesis matrix of the metamorphic mechanism is then obtained from the equivalent resistance matrix by deducing the constraint-form vectors of the metamorphic joints. Furthermore, an effective kinematic diagram synthesis of the source mechanism of the planar metamorphic mechanism is proposed which is based only on the 14 one or zero degree-of-freedom (DOF) linkage groups. The entire structural design method of a metamorphic mechanism is based on the structural synthesis matrix and given in steps. Finally, a proposed structural design approach is illustrated by two examples.

scholarly journals Practical Structural Design Approach of Multiconfiguration Planar Single-Loop Metamorphic Mechanism with a Single Actuator

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Qiang Yang ◽  
Guangbo Hao ◽  
Shujun Li ◽  
Hongguang Wang ◽  
Haiyang Li
Keyword(s):  
Structural Design ◽  
Degrees Of Freedom ◽  
Design Method ◽  
Design Approach ◽  
Equivalent Resistance ◽  
Structural Synthesis ◽  
Single Loop ◽  
Metamorphic Mechanism ◽  
Resistance Matrix ◽  
Metamorphic Mechanisms

Abstract As a type of multiconfiguration mechanism that can operate in an under-actuated state, metamorphic mechanisms were proposed more than two decades ago and attracted significant interest. Studies on structural synthesis of metamorphic mechanisms tend to focus more on metamorphic techniques and the structural synthesis of source mechanisms for metamorphic mechanisms. By designing different constraint architectures of metamorphic joints, multistructures can be obtained from the same source metamorphic mechanism. To determine the constraint architectures of metamorphic joints and their different assembly combinations, a kinematic status matrix and a corresponding constraint status matrix are constructed based on the metamorphic cyclogram of a source mechanism. According to the equivalent resistance gradient model and the constraint status matrix, an equivalent resistance matrix for the metamorphic joints is proposed. A structural synthesis matrix of the metamorphic mechanism is then obtained from the equivalent resistance matrix by deducing the constraint form vectors of the metamorphic joints. Furthermore, a kinematic diagram synthesis of the source metamorphic mechanism of a planar single-loop metamorphic mechanism is proposed, which is based on only the 14 one- or zero-degrees-of-freedom linkage groups. The entire structural design method of a metamorphic mechanism is based on the structural synthesis matrix and is presented as a systematic process. Finally, the proposed structural design approach is illustrated by two examples to verify its feasibility and practicality. This study provides an effective method for designing a practical multi-mobility and multiconfiguration planar single-loop metamorphic mechanism with a single actuator.

scholarly journals Innovative design method of the metamorphic hand

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141775415 ◽  
Author(s):  
Wei Sun ◽  
Jianyi Kong ◽  
Xingdong Wang ◽  
Huaiguang Liu
Keyword(s):  
Design Method ◽  
Kinematic Chain ◽  
Theoretical Method ◽  
Combination Method ◽  
Structural Synthesis ◽  
Innovative Design ◽  
Automated Production ◽  
Metamorphic Mechanism ◽  
Physical Experiments ◽  
Number Synthesis

In order to solve the last centimeter problem of automated production, it is necessary to innovative design of flexible fixture. This article presents a metamorphic hand design method through the principle of metamorphic mechanism. Firstly, kinematic chain satisfying the requirements is obtained by number synthesis and structural synthesis. Then, the kinematic chain becomes a mechanism that meets the requirements using regeneration design rules. And the holographic matrix description method is used to describe the configuration transformation of the metamorphic mechanism. Furthermore, through the combination method of kinematic chain, the metamorphic clamp increases the two joint fingers into a metamorphic hand. Finally, the validity of the theoretical method is verified by physical experiments.

scholarly journals A New Algorithm for Unique Representation and Isomorphism Detection of Planar Kinematic Chains with Simple and Multiple Joints

Processes ◽  
2021 ◽  
Vol 9 (4) ◽  
pp. 601
Author(s):  
Mahmoud Helal ◽  
Jong Wan Hu ◽  
Hasan Eleashy
Keyword(s):  
Degree Of Freedom ◽  
Synthesis Process ◽  
Structural Synthesis ◽  
Joint Configuration ◽  
Unique Representation ◽  
Kinematic Chains

In this work, a new algorithm is proposed for a unique representation for simple and multiple joint planar kinematic chains (KCs) having any degree of freedom (DOF). This unique representation of KCs enhances the isomorphism detection during the structural synthesis process of KCs. First, a new concept of joint degree is generated for all joints of a given KC based on joint configuration. Then, a unified loop array (ULA) is obtained for each independent loop. Finally, a unified chain matrix (UCM) is established as a unique representation for a KC. Three examples are presented to illustrate the proposed algorithm procedures and to test its validity. The algorithm is applied to get a UCM for planar KCs having 7–10 links. As a result, a complete atlas database is introduced for 7–10-link non-isomorphic KCs with simple or/and multiple joints and their corresponding unified chain matrix.

Innovative Use of Profiled Steel Plates for Seismic Structural Performance

2005 ◽  
Vol 8 (3) ◽  
pp. 247-257 ◽  
Author(s):  
Y. Fukumoto ◽  
T. Takaku ◽  
T. Aoki ◽  
K. A. S. Susantha
Keyword(s):  
Numerical Analysis ◽  
Seismic Performance ◽  
Structural Design ◽  
Design Method ◽  
Steel Plates ◽  
Structural Performance ◽  
Cyclic Testing ◽  
Beam Columns ◽  
Bridge Bents ◽  
Hot Rolled

This paper presents the innovative use of hot-rolled thickness-tapered mill products, longitudinally profiled (LP) plates, for the seismic performance of bridge bents of single and portal framed piers. The study involves the inelastic cyclic testing and numerical analysis of tested beam-columns and portal frames in order to evaluate the effects of tapering ratios of LP plates, penetration of yielding, and number of locally buckled panels on their structural ductility. A structural design method is proposed for the portal frames having LP panels under cyclic loadings.

Topological Structural Design of Umbrella-Shaped Deployable Mechanisms Based on New Spatial Closed-Loop Linkage Units

2018 ◽  
Vol 140 (6) ◽  
Author(s):  
Wen-ao Cao ◽  
Donghao Yang ◽  
Huafeng Ding
Keyword(s):  
Structural Design ◽  
Closed Loop ◽  
Space Exploration ◽  
Degree Of Freedom ◽  
Structural Symmetry ◽  
Potential Applications ◽  
Good Potential

The umbrella linkage is one of the most classical deployable mechanisms. This paper concentrates on topological structural design of a family of umbrella-shaped deployable mechanisms based on new two-layer and two-loop spatial linkage units. First, deployable units are developed systematically from two-layer and two-loop linkage with four revolute pair (4R) coupling chains. Then, mobile connection modes of the deployable units are established based on the conditions of one degree-of-freedom (DOF) and structural symmetry. Finally, umbrella-shaped deployable mechanisms are constructed based on the developed deployable units and the established mobile connection modes. Like umbrellas, the designed deployable mechanisms can be actuated in a simple and reliable way, and those mechanisms have good potential applications in the fields of architecture, manufacturing, space exploration, and recreation.

Modular Design Technology of Multi-DOF Mechanical Arm

2014 ◽  
Vol 599-601 ◽  
pp. 358-361
Author(s):  
Huan Qiang ◽  
Hu Zhang ◽  
Yan Zhou
Keyword(s):  
Modular Design ◽  
Design Method ◽  
Structure Design ◽  
Degree Of Freedom ◽  
Dynamics Simulation ◽  
Complicated Structure ◽  
Design Technology ◽  
Structure Line ◽  
Six Dof

A design method of modular joint is proposed according to the complicated structure, line exposed and heavier characteristics of multi-DOF (degree of freedom) mechanical arm. In this paper, the design of modular joint was carried on and a model of six-DOF mechanical arm was built through the research on the structure of mechanical arm. On this basis, dynamics simulation will be carried. The results show that the modular design method simplified the structure of the mechanical arm, the dynamics simulation proved it was feasible for the structure design and drive selection.

Strength Model Uncertainties of Burst, Yielding, and Excessive Bending of Piping

2009 ◽  
Vol 131 (3) ◽  
Author(s):  
Kleio Avrithi ◽  
Bilal M. Ayyub
Keyword(s):  
Structural Design ◽  
Design Method ◽  
Strength Model ◽  
Allowable Stress ◽  
Model Uncertainties ◽  
Reliability Based Design ◽  
Design Variables ◽  
Strength Models ◽  
Potential Use ◽  
Allowable Stress Design

Nuclear safety-piping is designed according to the ASME Boiler and Pressure Vessel Code, Sections III, NB-, NC-, and ND-3600 that use the allowable stress design method (ASD). The potential use instead of reliability-based design equations for nuclear piping could benefit the structural design by providing, among others, consistent reliability levels for piping. For the development of such equations, not only the probabilistic characteristics of the design variables are needed, but also the quantification of the uncertainties introduced by the strength models that are used in order to estimate the resistance of pipes subjected to different loadings. This paper evaluates strength models, and therefore provides necessary information for the reliability-based design of pipes for burst or yielding due to internal pressure and for excessive bending.

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