Structure Synthesis of Single-Driven Metamorphic Mechanisms Based on the Augmented Assur Groups

This paper presents a new way of structure composition of single-driven metamorphicmechanisms to develop a systematic and modularized structure synthesis methodology ofmetamorphic mechanisms based on augmented Assur groups (AAGs). Planar metamor-phic mechanisms can hence be constructed based on the developed AAGs by applying thestructure composition rule of general planar mechanisms formed by Assur groups (AGs).First, the one-mobility AAGs are introduced based on class II and class III AGs; thestructure formulation and composition methodology of planar metamorphic mechanismsare then proposed based on the AAGs, and the basic problems including mobility andsynthesis of constrained metamorphic working mobility-configuration are investigated.This leads to the investigation of the degenerated equivalent AGs of AAGs in the meta-morphic process and the corresponding kinematic characteristics, providing referencesfor kinematic synthesis of metamorphic mechanisms. Further, a typical spatial metamor-phic group is introduced based on the concept of AAGs, and the structure formation andcomposition of spatial metamorphic mechanisms are presented. Examples show that bothplanar and spatial metamorphic mechanisms can be constructed by utilizing the one-mobility blocks extended from the AGs. [DOI: 10.1115/1.4006741]Keywords: augmented Assur group, structure synthesis, metamorphic degeneration, con-strained configuration

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