Design method of one-DOF bio-inspired mechanism based on layered constraint conditions
- PDF / 3,989,015 Bytes
- 19 Pages / 595.276 x 790.866 pts Page_size
- 24 Downloads / 123 Views
(2020) 42:454
TECHNICAL PAPER
Design method of one‑DOF bio‑inspired mechanism based on layered constraint conditions Ziqiang Zhang1 · Jinnong Liao1 · Jing Zhao1 · Xingkun Liu2 · Haiyuan Li3 Received: 6 May 2020 / Accepted: 30 July 2020 © The Brazilian Society of Mechanical Sciences and Engineering 2020
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. Keywords One-DOF bio-inspired mechanism · Design method · Layered constraint conditions · Design efficiency
1 Introduction Bio-inspired mechanism can simulate the movement form of creature and has the similar shape characteristics [3, 18, 27, 34]. How to improve the design efficiency of bio-inspired mechanism on the premise of meeting the movement and shape requirements is one of the research focuses.
Technical Editor: Adriano Almeida Gonçalves Siqueira. Electronic supplementary material The online version of this article (https://doi.org/10.1007/s40430-020-02542-9) contains supplementary material, which is available to authorized users. * Jing Zhao [email protected] 1
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
2
Computer Science Department, Heriot-Watt University, Edinburgh EH14 4AS, UK
3
School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
The one-degree-of-freedom (DOF) mechanism has the characteristics of simple control and has been widely used in the bio-inspired robots. There are many researches on oneDOF four-bar bio-inspired mechanism. In order to achieve more accurate trajectory and more stable dynamic characteristics, six-bar and eight-bar bio-inspired mechanism has also been studied. For the four-bar bio-inspired mechanism, Li et al. [14] designed a bio-inspired jumping robot. On the basis of the
Data Loading...
