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Research Papers: Mechanisms and Robotics

Biological Modeling and Evolution Based Synthesis of Metamorphic Mechanisms

[+] Author and Article Information
Liping Zhang

Department of Mechanical Engineering, King’s College London, University of London, Strand, London WC2R 2LS, UKliping.zhang@kcl.ac.uk

Delun Wang

School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, P. R. C.dlunwang@dlut.edu.cn

Jian S. Dai

Department of Mechanical Engineering, King’s College London, University of London, Strand, London WC2R 2LS, UKjian.dai@kcl.ac.uk

J. Mech. Des 130(7), 072303 (May 20, 2008) (11 pages) doi:10.1115/1.2900719 History: Received June 06, 2007; Revised November 17, 2007; Published May 20, 2008

A methodology for synthesis and configuration design of metamorphic mechanisms is developed in this paper based on biological modeling and genetic evolution with biological building blocks. The goal is to conceive an appropriate source-metamorphic-mechanism configuration when the multiple phases of kinematic functions are given. The key enabler is the way of developing genetic evolution in modeling and design by capturing the metamorphic configuration characteristics. With the unique characteristic of achieving multiple working-phase functions in a mechanism, the metamorphic mechanism possesses two features: one, the ametabolic feature referring to the specified working phases that can be accomplished by a number of traditional mechanisms; two, the metamorphic feature occurring in transition between different working phases, resulting in change of topology of the mechanism. Based on this transition between phases, the concept of mechanism evolution is for the first time introduced in this paper based on biological building blocks in the form of metamorphic cells and associated intrinsic elements as the metamorphic gene. This leads to development of cell evolution and genetic aggregation with mechanism decomposition and evolutionary operation based on mapping from the source-metamorphic mechanism to multiphase working configurations. Examples are given to demonstrate the concept and principles.

Copyright © 2008 by American Society of Mechanical Engineers
Topics: Mechanisms
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References

Figures

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Figure 1

Multifunctional phases of a mechanical packaging mechanism

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Figure 2

Multiconfigurational phases of the mechanical packaging mechanism

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Figure 3

Working-phase configurations evolved from a 2-DOF RRRPR source-metamorphic mechanism

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Figure 4

Relationship of a metamorphic mechanism, its source mechanism, and working-phase submechanisms

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Figure 5

Set theoretic from working-phase mechanisms to the metamorphic mechanism and the source-metamorphic mechanism

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Figure 6

Set theoretic from the source-metamorphic mechanism to working-phase mechanisms

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Figure 7

Set theoretic for mechanism segregation evolution

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Figure 8

Evolution based synthesis for metamorphic mechanisms

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Figure 9

Aggregation evolution on genes a1 and a2

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Figure 10

Aggregation evolution on cells A1 and A6

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Genovariation evolution on genes a6 and a7

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Figure 12

Genovariation evolution on genes a5 and a6

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Figure 13

Intersection evolution on cell A8 and gene a6

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Figure 14

Segregation evolution on cell A7 and gene a6

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Figure 15

Biological building blocks for a RRRPR source-metamorphic mechanism

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Figure 16

Working-phase mechanisms RRRR and PRRR

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Figure 17

Biological modeling for mobility 1 working-phase mechanisms M1 and M2

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Figure 18

Evolutionary operation on generating a mobility 2 4RP source-metamorphic mechanism

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Figure 19

Biological modeling for mobility 1 working-phase mechanisms

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Evolutionary operation on generating (A2\a5)

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Figure 21

Modified evolutionary synthesis for generating a mobility 2 4RP source-metamorphic mechanism

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Figure 22

Working-phase mechanisms RRRR and RRPP

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Figure 23

Biological modeling for mobility 1 working-phase mechanisms

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Figure 24

Evolutionary synthesis for generating a mobility 3 4RPP source-metamorphic mechanism

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Figure 25

Mobility 2 4RP source-metamorphic mechanism for aggregation evolution of M1 and M2

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Figure 26

Evolutionary synthesis analytical for a mobility 3 4RPR source-metamorphic mechanism

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Figure 27

Segregation for working-phase mechanism MI from MS

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Figure 28

Segregation for working-phase mechanism MII from MS

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Figure 29

Segregation for working-phase mechanism MIII from MS

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