FUNDAMENTALS AND CATEGORIZATION

OF METAMORPHIC MECHANISMS

Dai  Jiansheng

(Department of Mechanical Engineering, King’s College, University of London, London WC2R 2LS, UK)

Ding Xilun

(Institute of  Robotics, Beijing University of Aeronautics and Astronautics, Beijing 100083)

Zou Huijun

(School of Mechanical and Power Engineering, Shanghai Jiaotong University, Shanghai 200030)

Abstract: The historical development of metamorphic mechanisms and for the first time explains the fundamentals of metamorphic mechanisms based on metamorphosis are reviewed. It distinguishes metamorphic mechanisms from deployable mechanisms and from kinematotropic mechanisms. The topological configuration changes of the mechanisms and their mathematical models are further introduced. A general categorization of metamorphic mechanisms is then proposed based on mechanism types, metamorphic ways and topological combinations that are expected to be further investigated, presenting a new way of developing new metamorphic mechanisms. Various applications in robotics, vehicles and manufacturing are concluded. A new horizon in both development and applications of metamorphic mechanisms is hence presented, leading to a new era of mechanism development that automatically adapts mechanisms for different environments and various task demands.

Key words: Metamorphic mechanisms  Principle  Mathematical model  Application

CLC No: TH112

国家自然科学基金资助项目(50075009). Received 20040512, received in revised form 20050107