Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory
In order to develop an old helper robot， based on the graph configuration theory and the numerical synthesis， a three-configuration old helper mechanism that can switch between 2 degrees of freedom， 1 degree of freedom， and 0 degrees of freedom is designed. Aiming at the 2-DOF walking configuration...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-04-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.04.009 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547282834522112 |
|---|---|
| author | Sunke Zhu Lü Hang Weizhan Li Yanli Yin Yao Zhao |
| author_facet | Sunke Zhu Lü Hang Weizhan Li Yanli Yin Yao Zhao |
| author_sort | Sunke Zhu |
| collection | DOAJ |
| description | In order to develop an old helper robot， based on the graph configuration theory and the numerical synthesis， a three-configuration old helper mechanism that can switch between 2 degrees of freedom， 1 degree of freedom， and 0 degrees of freedom is designed. Aiming at the 2-DOF walking configuration of the metamorphic mechanism， the closed-loop vector method is used to analyze the kinematics， and the displacement， velocity and acceleration of the key position of the metamorphic mechanism in this configuration are obtained. The analysis results show that， the displacement curve changes greatly when the support period transitions to the swing period， and the speed and acceleration change greatly within the last 40% of the gait cycle， which is in line with the law of human gait， indicating that the old helper mechanism design is reasonable. |
| format | Article |
| id | doaj-art-5b6aa43854034957b75200a5abe1f998 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-04-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-5b6aa43854034957b75200a5abe1f9982025-01-10T14:49:25ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-04-014551578813425Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph TheorySunke ZhuLü HangWeizhan LiYanli YinYao ZhaoIn order to develop an old helper robot， based on the graph configuration theory and the numerical synthesis， a three-configuration old helper mechanism that can switch between 2 degrees of freedom， 1 degree of freedom， and 0 degrees of freedom is designed. Aiming at the 2-DOF walking configuration of the metamorphic mechanism， the closed-loop vector method is used to analyze the kinematics， and the displacement， velocity and acceleration of the key position of the metamorphic mechanism in this configuration are obtained. The analysis results show that， the displacement curve changes greatly when the support period transitions to the swing period， and the speed and acceleration change greatly within the last 40% of the gait cycle， which is in line with the law of human gait， indicating that the old helper mechanism design is reasonable.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.04.009KinematicsStructure state transformMetamorphic mechanismGraph theory |
| spellingShingle | Sunke Zhu Lü Hang Weizhan Li Yanli Yin Yao Zhao Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory Jixie chuandong Kinematics Structure state transform Metamorphic mechanism Graph theory |
| title | Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory |
| title_full | Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory |
| title_fullStr | Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory |
| title_full_unstemmed | Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory |
| title_short | Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory |
| title_sort | design and kinematics analysis of the three configuration old helper metamorphic mechanism based on graph theory |
| topic | Kinematics Structure state transform Metamorphic mechanism Graph theory |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.04.009 |
| work_keys_str_mv | AT sunkezhu designandkinematicsanalysisofthethreeconfigurationoldhelpermetamorphicmechanismbasedongraphtheory AT luhang designandkinematicsanalysisofthethreeconfigurationoldhelpermetamorphicmechanismbasedongraphtheory AT weizhanli designandkinematicsanalysisofthethreeconfigurationoldhelpermetamorphicmechanismbasedongraphtheory AT yanliyin designandkinematicsanalysisofthethreeconfigurationoldhelpermetamorphicmechanismbasedongraphtheory AT yaozhao designandkinematicsanalysisofthethreeconfigurationoldhelpermetamorphicmechanismbasedongraphtheory |