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Configuration Synthesis and Kinematic Analyses of Variable Topology Mechanism

Author: GuoXingHui
Tutor: QinWei
School: Chongqing University
Course: Mechanical Design and Theory
Keywords: Variable topology institutions Configuration synthesis Variable topology point Singularity
CLC: TH112
Type: Master's thesis
Year: 2008
Downloads: 200
Quote: 2
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Abstract


In order to adapt to the complex, poor working environment changes or multifunctional requirements change, modern mechanical system requirements of modern institutions to self-reconfigurable development agencies in the course of the campaign, you can change its topology, kinematic parameters or kinetic parameters. The variable topology institutions is a new self-reconfigurable the metamorphic mechanism based on a class of variable topology institutions by the contraction of the components and fission, adjacency and deputy campaign types change to change institutions configuration in the course of the campaign, to adapt to different working environment, expand the range of applications of the institutions. Variable topology institutions in the field of synthesis and selection, the relationship between the configuration, the kinematic and dynamic analysis of the configuration there are a large number of the problem is not resolved. Analysis of variable topology agencies involved in a variety of configuration analysis, complexity, so look for the topology transform the relationship between the number of configurations is very important, while variable topology transformation point of choice as well as before and after configuration type of impact analysis focuses on institutions. For the above, this paper carried out the following studies: ① proposed an integrated approach to configuration variable topology institutions, institutional configuration of the the three variations topology way combination of law, the configuration of a variable topology institutions integrated Practical methods. ② bodies conversion process before and after the configuration relationship between analysis, the constraint condition when the objective of minimizing the square of the difference of the instantaneous power to select the bodies varying topological point of the objective function and a converting; two configuration by analyzing mechanism The relationship between the derived transitive relation agencies velocity matrix before and after configuration, provides a quick and easy way for institutions singularity. (3) using MATLAB software simulation analysis on the 5-4 bar variable topology institutions were 5-4 bar mechanism first appeared singular position the optimal variable topology point, the simulation exercise variable topology its motion curve based on the variable topology area selection method. The integrated approach of the configuration of the the variable topology institutions proposed, analyzed the speed configuration variable topology choice and institutional point of Singularity calculated before and after the transfer matrix R; R matrix calculations, simplifying the latter configuration speed matrix of calculated steps to enrich the variable topology analysis and design methods. This study provides important reference work for the design and application of variable topology.

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CLC: > Industrial Technology > Machinery and Instrument Industry > Mechanics (mechanical design of the basic theory ) > Of mechanism
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