变胞原理和变胞机构类型

FUNDAMENTALS AND CATEGORIZATION OF METAMORPHIC MECHANISMS

追述了变胞机构的发展,首次阐述了变胞原理及其在变胞机构的应用。进一步探讨了变胞机构与其他机构的区别,提出了变胞机构的延伸和分类,有助于挖掘具有变胞特性的原有机构和设计构造新的变胞机构。探讨了变胞方式,阐明了数学模型在变胞构态演变中的运用。并进一步运用各种例子,探讨了变胞机构在国内外的发展和在机器人以及制造业的应用,尤其是变胞原理在机器人及机器手的应用。该研究奠定了变胞机构的理论基础,为变胞机构新的研究和发展开拓了道路。

The historical development of metamorphic mechanisms and for the first time explains the fundamentals of metamorphic mechanisms based on metamorphosis are reviewed. It distinguishes metamorphic mechanisms from de-ployable mechanisms and from kinematotropic mechanisms. The topological configuration changes of the mechanisms and their mathematical models are further introduced. A general categorization of metamorphic mechanisms is men proposed based on mechanism types, metamorphic ways and topological combinations that are expected to be further investigated, presenting a new way of developing new metamorphic mechanisms. Various applications in robotics, vehicles and manufacturing are concluded. A new horizon in both development and applications of metamorphic mechanisms is hence presented, leading to a new era of mechanism development that automatically adapts mechanisms for different environments and various task demands.