Structural Analysis And Synthesis Of Metamorphic Mechanism And The Application

Metamorphic mechanism is a new type of mechanisms which was proposed at the 25th ASME biennial mechanisms and robotics conference in Atlanta in 1998. It is a kind of mechanism which can transform their structure form one type to another. Usually the total number of all effective links and degree of freedom change as it moves from one configuration to another. Structural theory of metamorphic mechanism is the research basis of kinematics and dynamics. For structural analysis and structural synthesis of the metamorphic mechanism, the method based on the improved adjacency matrix operations is proposed in this paper. The method based on the improved adjacency matrix can be apply to all single-joint and multi-joint metamorphic mechanisms. In order to solve the question of distinguishing isomorphism of kinematic chains for structural synthesis of metamorphic mechanism, the distinguishing method for kinematic chain isomorphism based on the improved adjacency matrix is put forward in this paper.The traditional adjacency matrix based on single-color topological can only express single-joint metamorphic mechanisms, but it cannot express multi-joints metamorphic mechanisms. For the changes of structures, the algorithm of traditional adjacency matrix can only be used for single-joint metamorphic mechanisms. Toward the analysis of structure for single-joint and multi-joint metamorphic mechanisms, the improved adjacency matrix based on improved topological structure graph which can be used to express both single-joint and multi-joints metamorphic mechanisms is proposed in this paper. The method of improved adjacency matrix operation is put forward in this paper, and the calculating process and algorithm are given.For structural synthesis of metamorphic mechanisms and traditional mechanisms, the question of distinguishing isomorphism of kinematic chains has to be solved. So the distinguishing method for kinematic chain isomorphism based on improved adjacency matrix is put forward in this paper. And the distinguishing rules and sequences are presented in detail.In the end, based on the results from structural synthesis, we designed two specific metamorphic mechanism application instances.