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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2004, Vol. 25 ›› Issue (4): 401-45.

• 论文 • Previous Articles     Next Articles

Research on Configuration-complete Dynamics Modeling and Numerical Simulation of Metamorphic Mechanism

JIN Guo-guang1, DING Xi-lun2, ZHANG Qi-xian2   

  1. 1. School of Mechanical and Electronic Engineering , Tianjin Polytechnic University, Tianjin 300160, China;2. Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing100083, China
  • Received:2003-06-12 Revised:2004-03-05 Online:2004-08-25 Published:2004-08-25

Abstract: Dynamics equations of metamorphic mechanism for an arbitrary configuration are established according to Kane's equations. Hence, the configuration-complete dynamic modeling of metamorphic mechanism, a serial of diferential/algebraical equations, is formed by introducing the transformation matrix of generalized speeds. The configuration-complete dynamic modeling includes all configurations of metamorphic mechanism. And the configuration-complete dynamic modeling is solved by means of orthogonal complement array. The configuration-changing condition is proposed based on the characteristic of metamorphic mechanism. Finally, a numerical simulation illustration is shown to elucidate the application of this method. The dynamic simulation results show that the mechanism will be greatly impacted when the metamorphic mechanism changes from a configuration to another.

Key words: metamorphic mechanism, configuration, configuration-complete, dynamics, simulation