DYNAMIC MODELING OF METAMORPHIC MECHANISM

被引：11

作者：

Jin Guoguang Zhang QixianRobotics Institute

机构：

来源：

Chinese Journal of Mechanical Engineering | 2003年 / 01期

基金：

中国国家自然科学基金;

关键词：

Metamorphic mechanism Configuration Huston lower body arrays Transformation matrix Configuration-complete;

D O I：

暂无

中图分类号：

TH113 [机械动力学];

学科分类号：

080203 ;

摘要：

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 described 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 ζ and ζ+1 is obtained for the first time. Furthermore, configuration-complete dynamic modeling of metamorphic mechanism including all configurations is completely established.

引用

页码：94 / 99

页数：6