基于高阶运动学分析和奇异值分解的两种新型双中心机构的多分叉变异

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-07-10 DOI:10.1115/1.4062915

Zhao Tang, J. Dai

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引用次数: 0

摘要

研究了一类扩展双中心连杆机构，提出了两种新的多分叉双中心变质可重构机构。将高阶运动分析与奇异值分解相结合，展示了多分形的特点，揭示了运动分支变换。这些结果表明，所提出的双中心连杆机构能够演化为不同的运动分支，包括两个球面4R连杆机构、线对称Bricard连杆机构或Bennett连杆机构。此外，通过探索奇异构型在几何约束和代数关系上的局部性质，可以设计一种系统的方法来综合奇异构型，从而发现更多新颖的多分叉变质和可重构机构。

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Multi-Furcation Variations of Two Novel Double-Centered Mechanisms Based on Higher Order Kinematic Analyses and Singular Value Decomposition

This paper explores a class of extended double-centered linkages and presents two novel multi-bifurcated double-centered metamorphic and reconfigurable mechanisms. Higher order kinematic analyses and singular value decomposition are combined to demonstrate the characteristics of multi-furcation and to reveal motion-branch transformation. These findings show that the presented double-centered linkages are able to evolve to distinct motion branches including two spherical 4R linkages, linesymmetric Bricard linkage or Bennett linkage. Furthermore, by exploring the local properties of singular configurations on geometric constraints and algebraic relationships, a systematic approach for the synthesis of the singular configurations can be designed to discover more novel multi-bifurcated metamorphic and reconfigurable mechanisms.

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.