Kinematic and Dynamic Analysis of a 3PUS-S(P) Parallel Metamorphic Mechanism Used for Bionic Joint

Conference paper
First Online:
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 36)

Abstract

Traditional bionic joints including wrist, waist, ankle and shoulder have three revolute degrees of freedom, which can be treated as spherical joints, and its structure is prone to be damaged with impact force through the center of spherical joint. In this paper, a 3PUS-S(P) parallel metamorphic mechanism is used for bionic joint. This mechanism has two configurations as well as three degrees of orientation freedom in 1st configuration and extra one degree of translational freedom in 2nd configuration, which implies that only three variables are independent in 1st configuration and four variables in 2nd configuration. In order to analyze the kinematics and dynamics of this 3PUS-S(P) parallel spherical metamorphic mechanism, the constraint equations describing the six motion coordinates of moving platform are set and kinematic equations are established based on vector algebra method firstly and dynamic equations are established based on the Newton-Euler formulation secondly. Finally, a specific example is used to validate this kinematic and dynamic modeling method and illustrate the process of energy absorption under external forces.

Keywords

Metamorphic mechanisms Bionic joint Kinematics and dynamics Newton-Euler formulation 
This is a preview of subscription content, log in to check access.

Notes

Acknowledgment

This work was partially supported by the National Natural Science Foundation of China under grant no. 51275352 and no. 51475330.

References

  1. 1.
    Altendorfer, R., et al.: RHex: a biologically inspired hexapod runner. Auton. Robots 11, 207–213 (2001)CrossRefMATHGoogle Scholar
  2. 2.
    Collins, S., et al.: Efficient bipedal robots based on passive-dynamic walkers. Science 307(18), 1082–1085 (2005)CrossRefGoogle Scholar
  3. 3.
    Dai, Z.D., Li, H.K.: A biomimetic study of discontinuous-constraint metamorphic mechanism for gecko-like robot. J. Bionic Eng. 4(2), 91–95 (2007)CrossRefGoogle Scholar
  4. 4.
    Jin, Z.L., Rong, Y.: Design of a waist joint based on three branches unequal spaced distribution spherical parallel manipulator. China Mech. Eng. 18(22), 2697–2699 (2007)Google Scholar
  5. 5.
    Liu, X.J., Wang, J.S., Gao, F., Jin, Z.L.: 13 2 design of a serial-parallel 7-DOF redundant anthropomorphic arm. China Mech. Eng. 13(2), 101–105 (2002)CrossRefGoogle Scholar
  6. 6.
    Gosselin, C.M., Sefrioui, J., Richard, M.J.: On the direct kinematics of spherical three-degree-of-freedom parallel manipulators. ASME transactions. ASME J. Mech. Des. 116(2), 594–598 (1990)CrossRefGoogle Scholar
  7. 7.
    Gosselin, C.M., Hamel, J-F.: The agile eye: a high-performance three-degree-of freedom camera-orienting device, pp. 781–786. In: IEEE International Conference on Robotics and Automation (1994)Google Scholar
  8. 8.
    Dai, J.S., Zhao, T.S.: Sprained ankle physiotherapy based mechanism synthesis and stiffness analysis of robotic rehabilitation device. Auton. Robots 16, 207–218 (2004)CrossRefGoogle Scholar
  9. 9.
    Dai, J.S., Jones, J.R.: Mobility in metamorphic mechanisms of foldable/erectable kinds. In: Proceedings of ASME Design Engineering Technical Conference, pp. 13–16. Atlanta, Georgia (1998)Google Scholar
  10. 10.
    Dai, J.S., Jones, J.R.: Mobility in metamorphic mechanisms of foldable/erectable kinds. ASME J. Mech. Des. 121(3), 375–382 (1999)Google Scholar
  11. 11.
    Ding, X.L., Yang, Y.: Reconfiguration theory of mechanism from a traditional artifact. ASME J. Mech. Des. 132, 114501–114509 (2010)CrossRefGoogle Scholar
  12. 12.
    Zhang, W.X., Ding, X.L., Dai, J.S.: Method for configuration synthesis of metamorphic mechanisms based on constraint variation. J. Mech. Eng. 49(5), 1–9 (2013)CrossRefGoogle Scholar
  13. 13.
    Zhang, W.X., Ding, X.L.: A method for designing metamorphic mechanisms and its application. In: ASME/IFToMM International Conference on Reconfigurable Mechanism and Robots, pp. 171–174. London, United Kingdom (2009)Google Scholar
  14. 14.
    Jin, G.G., Ding, X.L., Zhang, Q.X.: Research on configuration-complete dynamics modeling and numerical simulation of metamorphic mechanism. Chin. J. Aeronaut. 25(4), 401–405 (2004)Google Scholar
  15. 15.
    Jin, G.G., Yun, J.T., Yang, S.M., Li, D.F.: Research on dynamic model and simulation of flexible metamorphic mechanism. J. Huazhong Univ. Sci. Technol. 36(11), 76–79 (2008)Google Scholar
  16. 16.
    Bi, Z.M., Kang, B.: An inverse dynamic model of over-constrained parallel kinematic machine based on newton-euler formulation. ASME J. Dyn. Syst. Meas. Control 136, 041001 (2014)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.School of Mechanical EngineeringTianjin Polytechnic UniversityTianjinChina

Personalised recommendations