| DYNAMIC MODELING OF METAMORPHIC MECHANISM |
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| 引用本文： | JinGuoguang DaiJiansheng 等. DYNAMIC MODELING OF METAMORPHIC MECHANISM[J]. 机械工程学报(英文版), 2003, 16(1): 94-99 |
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| 作者姓名： | JinGuoguang DaiJiansheng 等 |
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| 作者单位： | Jin Guoguang Zhang QixianRobotics Institute，Beijing University of Aeronauticsand Astronautics，Beijing 100083，ChinaDai JianshengSchool of University of LondonLi DuanlingRobotics Institute，Beijing University of Aeronauticsand Astronautics，Beijing 100083，China |
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| 基金项目： | This project is supported by National Natural Science Foundation of China (No.50075009)，Postdoctoral Science Foundation of China. |
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| 摘 要： | The concept of metamorphic mechanism is put forward according to the change of configurations from one state to another. Different configurations of metamorphic mechanism are described through the method of Huston lower body arrays. Kinematics analyses for metamorphic mechanism with generalized topological structure, including the velocity, angular velocity, acceleration and angular acceleration, are given. Dynamic equations for an arbitrary configuration, including close-loop constraints, are formed by using Kane's equations. For an arbitrary metamorphic mechanism, the transformation matrix of generalized speeds between configuration ζ and ζ+1 is obtained for the first time. Furthermore, configuration-complete dynamic modeling of metamorphic mechanism including all configurations is completely established.
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| 关 键 词： | 动态模型 变型机构 构造 变换矩阵 |
DYNAMIC MODELING OF METAMORPHIC MECHANISM |
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| Jin Guoguang,Zhang Qixian,Dai Jiansheng,Li Duanling. DYNAMIC MODELING OF METAMORPHIC MECHANISM[J]. Chinese Journal of Mechanical Engineering, 2003, 16(1): 94-99 |
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| Authors: | Jin Guoguang Zhang Qixian Dai Jiansheng Li Duanling |
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| Affiliation: | [1]RoboticsInstitute,BejingUnviersityofAeronauticsandAstronautics,Bejing100083,China [2]RoboticsInstituteBejingUniversityofAeronauticsandAstronauticsandAstronautics,Bejing100083,China |
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| Abstract: | The concept of metamorphic mechanism is put forward according to the change of configurations from one state to another. Different configurations of metamorphic mechanism are described through the method of Huston lower body arrays. Kinematics analyses for metamorphic mechanism with generalized topological structure, including the velocity, angular velocity, acceleration and angular acceleration, are given. Dynamic equations for an arbitrary configuration, including close-loop constraints, are formed by using Kane's equations. For an arbitrary metamorphic mechanism, the transformation matrix of generalized speeds between configuration (*)and(*)+1 is obtained for the first time. Furthermore, configuration-complete dynamic modeling of metamorphic mechanism including all configurations is completely established. |
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| Keywords: | Metamorphic mechanism Configuration Huston lower body arrays Transformation matrix Configuration-complete |
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