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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2023, Vol. 44 ›› Issue (4): 426843-426843.doi: 10.7527/S1000-6893.2022.26843

• Material Engineering and Mechanical Manufacturing • Previous Articles     Next Articles

A probabilistic evaluation model for configuration transformation ability of planar constrained metamorphic mechanisms

Benqi SUN1, Qiang YANG1,2(), Zhili SUN1, Shujun LI1,3, Hongkun MA1, Ruonan WANG1   

  1. 1.College of Mechanical Engineering and Automation,Northeastern University,Shenyang  110819,China
    2.College of Mechanical Engineering and Automation,Liaoning University of Technology,Jinzhou  121001,China
    3.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang  110016,China
  • Received:2021-12-21 Revised:2022-01-10 Accepted:2022-03-18 Online:2023-02-25 Published:2022-04-12
  • Contact: Qiang YANG E-mail:qiangyang@mail.neu.edu.cn
  • Supported by:
    National Natural Science Foundation of China(51575091);Aeronautical Science Foundation of China(20170250001);the Fundamental Research Funds for the Central Universities(N2203010)

Abstract:

The definition and evaluation of configuration transformation ability as well as the principle of force control during the process of configuration transformation are the research foundation for realizing the stable configuration transformation of metamorphic mechanisms. Considering the randomness of input errors in practical application, the establishment of a probabilistic evaluation model of the configuration transformation ability is the theoretical basis for reducing failure probability of kinematic performance of metamorphic mechanisms. Based on the structure composition principle of the multiconfiguration source metamorphic mechanism that can operate in an under-actuated state, the modularized calculation models are established for force analysis of the augmented Assur groups including metamorphic joints. According to the equivalent resistance gradient model of metamorphic joints, a force analysis model is deduced to describe mechanical control principle of the configuration transformation of constrained metamorphic mechanisms. Furthermore, considering the uncertainties in the link dimensions, masses, and compliance parameters et al, a reliability evaluation method of the configuration transformation moment for the constrained metamorphic mechanism is established. Considering the influence of kinematic failure at the adjacent moment of configuration transformation time, an interval reliability calculation method for the configuration transformation of constrained metamorphic mechanisms is proposed by using the calculation model of system reliability. Finally, the feasibility and effectiveness of the probabilistic evaluation method is verified by taking the metamorphic mechanism of paper folding as an example. This research provides the foundation for the reliability optimization design of the constrained metamorphic mechanism aiming at obtaining the repeatability of the configuration transformation with high probability. It also shows theoretical and practical significance in promoting the application of metamorphic mechanisms.

Key words: planar constrained metamorphic mechanisms, configuration transformation, probability, reliability, equivalent resistance, structure of metamorphic joint

CLC Number: