Constraint Force Analysis of Metamorphic Joints Based on the Augmented Assur Groups
The mobility of constrained metamorphic joints of metamorphic mechanism is restricted and controlled by kinematic geometry arrangements,geometric and/or force constraints,designated profiles of links and/or joints in the metamorphic working configurations.It is basic parameters in the design work that determining the constraint force change rules and values to satisfy the metamorphic configurations and sequences.A force analysis method of metamorphic mechanisms based on the augmented Assur groups is presented by transforming the augmented Assur group into Assur groups,so that the forces analysis problem of metamorphic mechanisms is changed into the problems of typical mechanisms.The constraint force change rules and values of metamorphic joints can be obtained by the method.
Metamorphic joints Constraint forces Augmented Assur groups
Shujun Li Hongguang Wang Qiang Yang
College of Mechanical Engineering & Automation,Northeastern University,Shenyang 110819,China State Key Laboratory of Robotics,Shenyang,110016,China
国际会议
天津
英文
1-5
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）