Technical Briefs

Reconfiguration Theory of Mechanism From a Traditional Artifact

[+] Author and Article Information
Xilun Ding

Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, Chinaxlding@buaa.edu.cn

Yi Yang

Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, Chinayangyi@me.buaa.edu.cn

J. Mech. Des 132(11), 114501 (Nov 03, 2010) (8 pages) doi:10.1115/1.4002692 History: Received October 08, 2009; Revised September 13, 2010; Published November 03, 2010; Online November 03, 2010

The traditional artifacts are very popular to play with for their magic tricks and these transformations contain potential theory of mechanisms. The assembly-circles artifact is a metamorphic mechanism which can change its configuration and shape through the motion of joints. In this paper, the topology and configuration of the assembly-circles artifact are investigated by dividing the mechanism into three sections. The constraint, kinematics, singularity, and geometry properties of this special mechanism are also studied. The assembly methods and metamorphic principle are proposed and well summarized. Furthermore, three evaluating criteria for metamorphic mechanisms, which are the linear ratio, area ratio, and volume ratio, are proposed. The performance of this artifact is estimated by these criteria. Our research provides some fundamental ideas for the design of metamorphic mechanisms which are very useful in aerospace field.

Copyright © 2010 by American Society of Mechanical Engineers
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Figure 2

Structure of assembly-circles artifact

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Figure 3

Simple structure of assembly-circles artifact

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Figure 4

Structure of T-section

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Figure 5

(a) Simplified structure of M-section and (b) Sarrut parallel mechanism

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Figure 6

Different configurations for T-section and M-section: (a) complete open configuration, (b) midway configuration, (c) complete close configuration, (d) outer open configuration, (e) midway configuration, and (f) inner close configuration

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Figure 7

Topograph of configurations

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Figure 8

Eighteen corresponding structures

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Figure 9

Half-cirque cell

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Figure 10

A Sarrut parallel mechanism with six legs

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Figure 11

Geometry design for cell assembly

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Figure 12

Three examples of geometry figures: (a) n=3, θ=7/18π, (b) n=5, θ=4/15π, and (c) n=8, θ=π/6

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Figure 13

M-section assembled with two T-sections

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Figure 14

Types of cells’ assembly: (a) SLEs on a line, (b) SLEs on a circle, and (c) SLEs arranged by polyhedron

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Figure 15

Ordinary types of deploying and folding

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Figure 16

Deploying and folding type of artifacts: (a) T-section belonging to arc type and (b) M-section belonging to linear type

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Figure 17

Three M-sections assembled as deployable mast

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Figure 18

Approximate enveloping surfaces of mechanism of artifact: (a) enveloping surface with T-section that is wholly closed and (b) enveloping surface with wholly folded

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Figure 19

Subchain mechanism with links

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Figure 20

Subchain mechanism of T-section with approximate enveloping surface on one plane

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Figure 21

Structure of wholly folded



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