Article ID Journal Published Year Pages File Type
5018962 Mechanism and Machine Theory 2017 14 Pages PDF
Abstract
Normal kinematic joint can be transformed to variable kinematic joint(VKJ), which refers to a kinematic joint that is capable of topological variation in a mechanism, by utilizing effect of friction and self-locking. In this paper a metamorphic mechanism cell which can realize deploying, self-locking, unlocking, retracting and interlocking with other cells, is designed by incorporating VKJs. Self-locking margin is proposed to estimate the self-locking capability. The variable topology configurations of this cell are presented and the mobility of this cell is analyzed. With the new metamorphic cell, a cable-driven telescopic model with 3 tubes is built, and its motion simulations are conducted to verify the design method. The results demonstrate that the impact in transformation is mitigated and multistage orderly deployable/retractable mechanisms can be built by this method.
Related Topics
Physical Sciences and Engineering Engineering Industrial and Manufacturing Engineering
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