Constraint Force Analysis of Metamorphic Joints Based on the Augmented Assur Groups  

作　　者：LI Shujun WANG Hongguang YANG Qiang 

机构地区：[1]School of Mechanical Engineering & Automation, Northeastern University [2]State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences

出　　处：《Chinese Journal of Mechanical Engineering》2015年第4期747-755,共9页中国机械工程学报（英文版）

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

摘　　要：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.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.

关 键 词：metamorphic joints constraint forces augmented Assur groups metamorphic mechanism 

分 类 号：TH112[机械工程—机械设计及理论] O31[理学—一般力学与力学基础]