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Design method of one-DOF bio-inspired mechanism based on layered constraint conditions

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Abstract

Bio-inspired mechanism not only needs to be able to reproduce the movement laws of creature, but also has its shape. In order to simplify the design process and improve the design efficiency of one-degree-of-freedom (DOF) bio-inspired mechanism (especially six-bar or eight-bar mechanism), a design method based on layered constraint conditions is proposed in this paper. On the basis of the one-DOF kinematic chain, the frame is selected and the links are added in turn. At the same time, the constraint conditions are given in layers in the form of inequalities. When a closed loop is formed, the kinematic model needs to be established, and the positions of the target points or the attitudes of the target links can be represented by the driving angles or given angles. Thus, the feasible configurations and the ranges of the link lengths can be obtained. By cycling the above process, the target points can approach the reference points quickly and the design efficiency of the mechanism can be improved. The effect of the different basic kinematic chain, closed-loop forms and constraint conditions on configurations and design efficiency is analyzed in detail. It provides a reference for the design of other one-DOF mechanisms with multiple constraint conditions.

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Funding

This work was supported by the National Natural Science Foundation of China (Grant No. 51805010), General Project of Beijing Education Commission (Grant No. KM201910005032), China Postdoctoral Science Foundation funded project (Grant No. 2019T120030) and National Key Research and Development Program of China (Grant No. 2018YFB1304602).

Author information

Authors and Affiliations

  1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, 100124, China

    Ziqiang Zhang, Jinnong Liao & Jing Zhao

  2. Computer Science Department, Heriot-Watt University, Edinburgh, EH14 4AS, UK

    Xingkun Liu

  3. School of Automation, Beijing University of Posts and Telecommunications, Beijing, 100876, China

    Haiyuan Li

Authors
  1. Ziqiang Zhang
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  2. Jinnong Liao
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  3. Jing Zhao
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  4. Xingkun Liu
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  5. Haiyuan Li
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Contributions

ZZ proposed the mechanism design method and wrote the full text. JL completed part of the theoretical analysis. JZ guided the theoretical analysis process and made useful suggestions. XL modified the content of the article. HL was involved in the writing of the program.

Corresponding author

Correspondence to Jing Zhao.

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Technical Editor: Adriano Almeida Gonçalves Siqueira.

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Zhang, Z., Liao, J., Zhao, J. et al. Design method of one-DOF bio-inspired mechanism based on layered constraint conditions. J Braz. Soc. Mech. Sci. Eng. 42, 454 (2020). https://doi.org/10.1007/s40430-020-02542-9

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  • DOI: https://doi.org/10.1007/s40430-020-02542-9

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