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Constraint force analysis of metamorphic joints based on the augmented Assur groups

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Abstract

In order to obtain a simple way for the force analysis of metamorphic mechanisms, the systematic method to unify the force analysis approach of metamorphic mechanisms as that of conventional planar mechanisms is proposed. A force analysis method of metamorphic mechanisms is developed by transforming the augmented Assur groups into Assur groups, so that the force analysis problem of metamorphic mechanisms is converted into the force analysis problems of conventional planar mechanisms. The constraint force change rules and values of metamorphic joints are obtained by the proposed method, and the constraint force analysis equations of revolute metamorphic joints in augmented Assur group RRRR and prismatic metamorphic joints in augmented Assur group RRPR are deduced. The constraint force analysis is illustrated by the constrained spring force design of paper folding metamorphic mechanism, and its metamorphic working process is controlled by the spring force and geometric constraints of metamorphic joints. The results of spring force show that developped design method and approach are feasible and practical. By transforming augmented Assur groups into Assur groups, a new method for the constraint force analysis of metamorphic joints is proposed firstly to provide the basis for dynamic analysis of metamorphic mechanism.

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Authors and Affiliations

  1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang, 110819, China

    Shujun Li & Qiang Yang

  2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Hongguang Wang

Authors
  1. Shujun Li
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  2. Hongguang Wang
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  3. Qiang Yang
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Corresponding author

Correspondence to Shujun Li.

Additional information

Supported by National Natural Science Foundation of China(Grant Nos. 51175069, 51205052), State Key Laboratory of Robotics of China(Grant No. 2012-O16), and Basic Science and Research Project of Chinese National University, China(Grant No. N140304004)

LI Shujun, born in 1955, is currently a professor at School of Mechanical Engineering & Automation, Northeastern University, China. His current research interests include theory of mechanisms, robot mechanisms, metamorphic mechanisms, and mechanical design theory and method.

WANG Hongguang, born in 1965, is currently a professor at State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China. His current research interests include the analysis and synthesis of robot mechanism, the mechanics of serial and parallel manipulators, the modular reconfigurable robots and autonomous mobile robots.

YANG Qiang, born in 1980, is currently a lecturer at School of Mechanical Engineering & Automation, Northeastern University, China. His current research interests include theory of mechanisms, metamorphic mechanisms, parallel mechanisms, and kinematic reliability of mechanisms.

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Li, S., Wang, H. & Yang, Q. Constraint force analysis of metamorphic joints based on the augmented Assur groups. Chin. J. Mech. Eng. 28, 747–755 (2015). https://doi.org/10.3901/CJME.2015.0216.056

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  • DOI: https://doi.org/10.3901/CJME.2015.0216.056

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