This paper presents the idea of constructing reconfigurable limbs by integrating metamorphic linkages as subchains.The planar five-bar metamorphic linkages that have three phases resulting from locking of motors are c...This paper presents the idea of constructing reconfigurable limbs by integrating metamorphic linkages as subchains.The planar five-bar metamorphic linkages that have three phases resulting from locking of motors are considered.Under the assumption that the constraint exerted by the reconfigurable limb can switch between no constraint,a constraint force,and a constraint couple,the output motions of the metamorphic linkage in its two planar four-bar linkage phases are identified.By adding an appropriate joint to planar four-bar linkages with translational output,four planar five-bar linkages that can be employed in the construction of reconfigurable limbs are enumerated.Serial chains that can provide a constraint couple and a constraint force are synthesized based on screw theory.Reconfigurable limbs that have three configurations associated with the three distinct phases of the metamorphic linkages are assembled with planar five-bar metamorphic linkages and serial chains with four degrees of freedom.A class of reconfigurable parallel mechanisms are constructed by connecting a moving platform and a base with three identical reconfigurable limbs.The degrees of freedom of the reconfigurable parallel mechanism in different configurations with the metamorphic linkages in different phases are given.Finally,the actuation scheme for this kind of mechanisms is addressed.展开更多
This paper presents a composite modeling method of the forward dynamics in general planar mechanical system. In the modeling process, the system dynamic model is generated by assembling the model units which are kinem...This paper presents a composite modeling method of the forward dynamics in general planar mechanical system. In the modeling process, the system dynamic model is generated by assembling the model units which are kinematical determinate in planar mechanisms rather than the body/joint units in multi-body system. A state space formulation is employed to model both the unit and system models. The validation and feasibility of the method are illustrated by a case study of a four-bar mechanism. The advantage of this method is that the models are easier to reuse and the system is easier to reconfigure. The formulation reveals the relationship between the topology and dynamics of the planar mechanism to some extent.展开更多
Room temperature tensile tests of Fe-Mn-A1 C low density steels with four different chemical compositions were conducted to clarify the dominant deformation mechanisms. Parameters like product of strength and elongati...Room temperature tensile tests of Fe-Mn-A1 C low density steels with four different chemical compositions were conducted to clarify the dominant deformation mechanisms. Parameters like product of strength and elongation, as well as specific strength and curves of stress-strain relations were calculated. The microstructures and tensile fracture morphologies were observed by optical microscope, scanning electron microscope and transmission electron mi-croscope. The tensile behavior of low density steel was correlated to the microstructural evolution during plastic de formation, and the effects of elements, cooling process and heat treatment temperature on the mechanical properties of the steels were analyzed. The results show that the tensile strength of steels with different cooling modes is more than 1000 MPa. The highest tensile strength of 28Mn-12Al alloy reached 1230 MPa, with corresponding specific strength of 189.16 MPa· cm^3·g^-1 , while the specific strength of 28Mn-10Al alloy was 178.98 MPa·cm^3·g^-1 , and the excellent product of strength and elongation of 28Mn-SAl alloy was over 69.2 GPa·%. A large number of ferrite reduced the ductility and strain hardening rate of the alloy, while the existence of κ carbides may improve the strength but weaken the plasticity. Some fine κ carbides appeared in the water-quenched specimen, while coarse carbides were observed in the air-cooled specimen. High temperature heat treatment improved the decomposition ki- netics of 7 phase and the diffusion rate of carbon, thus speeded up the precipitation of fine κ carbides. The dominant deformation mechanism of low density steel was planar glide, including shear-band-induced plasticity and microband- induced plasticity.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.51075025,51175029)Beijing Natural Science Foundation of China(Grant No.3132019)the Program for New Century Excellent Talents in University of China(Grant No.NCET-12-0769)
文摘This paper presents the idea of constructing reconfigurable limbs by integrating metamorphic linkages as subchains.The planar five-bar metamorphic linkages that have three phases resulting from locking of motors are considered.Under the assumption that the constraint exerted by the reconfigurable limb can switch between no constraint,a constraint force,and a constraint couple,the output motions of the metamorphic linkage in its two planar four-bar linkage phases are identified.By adding an appropriate joint to planar four-bar linkages with translational output,four planar five-bar linkages that can be employed in the construction of reconfigurable limbs are enumerated.Serial chains that can provide a constraint couple and a constraint force are synthesized based on screw theory.Reconfigurable limbs that have three configurations associated with the three distinct phases of the metamorphic linkages are assembled with planar five-bar metamorphic linkages and serial chains with four degrees of freedom.A class of reconfigurable parallel mechanisms are constructed by connecting a moving platform and a base with three identical reconfigurable limbs.The degrees of freedom of the reconfigurable parallel mechanism in different configurations with the metamorphic linkages in different phases are given.Finally,the actuation scheme for this kind of mechanisms is addressed.
基金the National Natural Science Foundation of China (Grant No. 50605042)the National Basic Research Program of China (973 Program) (Grant No. 2006CB705400)
文摘This paper presents a composite modeling method of the forward dynamics in general planar mechanical system. In the modeling process, the system dynamic model is generated by assembling the model units which are kinematical determinate in planar mechanisms rather than the body/joint units in multi-body system. A state space formulation is employed to model both the unit and system models. The validation and feasibility of the method are illustrated by a case study of a four-bar mechanism. The advantage of this method is that the models are easier to reuse and the system is easier to reconfigure. The formulation reveals the relationship between the topology and dynamics of the planar mechanism to some extent.
基金Sponsored by Postdoctoral Science Foundation of China(2014M561648)
文摘Room temperature tensile tests of Fe-Mn-A1 C low density steels with four different chemical compositions were conducted to clarify the dominant deformation mechanisms. Parameters like product of strength and elongation, as well as specific strength and curves of stress-strain relations were calculated. The microstructures and tensile fracture morphologies were observed by optical microscope, scanning electron microscope and transmission electron mi-croscope. The tensile behavior of low density steel was correlated to the microstructural evolution during plastic de formation, and the effects of elements, cooling process and heat treatment temperature on the mechanical properties of the steels were analyzed. The results show that the tensile strength of steels with different cooling modes is more than 1000 MPa. The highest tensile strength of 28Mn-12Al alloy reached 1230 MPa, with corresponding specific strength of 189.16 MPa· cm^3·g^-1 , while the specific strength of 28Mn-10Al alloy was 178.98 MPa·cm^3·g^-1 , and the excellent product of strength and elongation of 28Mn-SAl alloy was over 69.2 GPa·%. A large number of ferrite reduced the ductility and strain hardening rate of the alloy, while the existence of κ carbides may improve the strength but weaken the plasticity. Some fine κ carbides appeared in the water-quenched specimen, while coarse carbides were observed in the air-cooled specimen. High temperature heat treatment improved the decomposition ki- netics of 7 phase and the diffusion rate of carbon, thus speeded up the precipitation of fine κ carbides. The dominant deformation mechanism of low density steel was planar glide, including shear-band-induced plasticity and microband- induced plasticity.
