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Jin Guoguang
Zhang Qixian
Robotics Institute,
Beijing University of Aeronautics
and Astronautics,
Beijing 100083, China
Dai Jiansheng
School of University of London
Li Duanling
Robotics Institute,
Beijing University of Aeronautics
and Astronautics,
Beijing 100083, China |
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DYNAMIC MODELING OF
METAMORPHIC MECHANISM*
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 de-scribed 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 z and z+1 is obtained for the first time. Furthermore, configuration-complete dynamic modeling of metamorphic mechanism including all configurations is completely established.
Key words: Metamorphic mechanism Configuration Huston lower
body arrays Transformation
matrix Configuration-complete
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