Configuration Synthesis And Kinematic Analyses Of Variable Topology Mechanism

In order to adapt to the exploration and poor working environment or multi-functional requirements, the modern mechanical systems require the modern machine develops towards the reconstruction. That is to say, machine can change its topology configuration, kinematic parameters or dynamics parameters in the process of movement. Variable topology mechanism which is based on the metamorphic mechanism is a new type of machine of self-reconstruction. By the combination and split of the bar, the change of connecting relationship and changing the type of kinematic pair , variable topology mechanism can change the machine configuration in the process of the working motion to be adapted to different working environment and expand the scope of application of the mechiansms.At present, variable topology mechanism hasn't yet solved some problems such as the synthesis and the selection of the configuration, the relationship between the before and after configuration and the anslysis of kinematics and dynamics. It's a very complex problem to analyse variable topology mechanism which involves in the variety of configurations. Therefore it is important to search the topology configurations transform relationships among the different configurations. And the selection of the topology transform point and the effect on the before and after configuration is the focus of the analysis of variable topology mechanism.To the above situations, this paper has carried on the following research:â‘ The synthesis approach of variable topology mechanism configuration has been proposed.And the law of mechanism configuration synthesis under the three variable topology ways has been studied. Consequently, a method of the variable topology mechanism configuration synthesis has been obtained.â‘¡By the analysis of the relationship between the before and after configuration in the process of mechanism transformation, objective function of the variable topology point of the mechanism chosen according to an objective whose square instantaneous power difference is minimum and constraint condition have been built. By analyzing the relationship between the two configuration, its transmission relationship of the machine speed matrix has been obtained, which provides a convenient method for the analysis of the singularity of mechanism.â‘¢By using MATLAB software, the simulative analysis of five-four bar variable topology mechanism, has been carried on. Then the optimum variable topology point appears for the first time. Through the analysis of variable topology mechanisms, the mechanical motion curve has been obtained, Besides the method of selecting the variable topology region is proposed on the basis of the curve has been porposed.This paper has proposed the metheods of configuration of variable topology mechanism, and analysed the choice of variable topology points and calculation of the mechanism singularity between the before and after configuration of the speed of the transfer matrix R . Through the matrix R, it has simplified the calculation speed matrix steps of the after configuration and enriched the variable topology mechanism analysis and design methods. The research has offered important reference for the design and applocation of variable topology mechanism.