Investigation and Development of a New Class of Mechanisms: Metamorphic Mechanisms with Reconfigurability
Lead Research Organisation:
King's College London
Department Name: Mechanical Engineering
Abstract
Mechanisms are fundamental parts of machines and robotic devices. The recently emerging new class of mechanisms have attracted a substantial number of researchers in the world with the changeable structures and mobility. The new class of mechanisms can subsequently change the functionality and adapt to various environments and different working tasks. This is the characteristic that distinguishes the new mechanisms from traditional mechanisms.This fundamental and adventurous research is to look into the characteristics particularly reconfigurability of the new mechanisms and investigate the topology synthesis which integrates the leading-edge synthesis method into the unique topology change of the new mechanisms to produce a sound and solid theoretical basis of the mechanisms and to develop both theoretical framework and practical use of the self-reconfigurability of the mechanisms. The metamorphic concept and its use in reconfigurability as well as dynamic reconfigruability are to be explored and a test rig is to be modified with reconfigurability and metamorphic mechanisms as a development platform. Based on this platform, a topology based dynamic model and a control strategy of dynamic reconfigurability is to be developed, both stability and controllability are to be examined.The proposed research is the leading-edge research in mechanism development and adventurous in dynamic reconfigurability. It will establish a theoretical basis of the new mechanisms and provide researchers in both academic and industrial establishments with reconfigurability modelling, topology synthesis, dynamic analysis and control algorithms of the new mechanisms.
People |
ORCID iD |
Jian Dai (Principal Investigator) |
Publications
Cui L
(2020)
Sliding-Rolling Contact and In-Hand Manipulation
Cui L
(2011)
Posture, Workspace, and Manipulability of the Metamorphic Multifingered Hand With an Articulated Palm
in Journal of Mechanisms and Robotics
Dai J
(2015)
Euler-Rodrigues formula variations, quaternion conjugation and intrinsic connections
in Mechanism and Machine Theory
Dai J
(2020)
Geometrical revelation of correlated characteristics of the ray and axis order of the Plücker coordinates in line geometry
in Mechanism and Machine Theory
Dai J
(2009)
Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand
in IEEE Transactions on Robotics
Dai J
(2010)
Surgical robotics and its development and progress
in Robotica
Gan D
(2013)
Geometry Constraint and Branch Motion Evolution of 3-PUP Parallel Mechanisms with Bifurcated Motion
in Mechanism and Machine Theory
Gan D
(2011)
Constraint-Based Limb Synthesis and Mobility-Change-Aimed Mechanism Construction
in Journal of Mechanical Design
Gan D
(2009)
Mobility Change in Two Types of Metamorphic Parallel Mechanisms
in Journal of Mechanisms and Robotics
Gan D
(2010)
Constraint analysis on mobility change of a novel metamorphic parallel mechanism
in Mechanism and Machine Theory
Description | This developes a new type of mechanisms and robots that fully utilise a new structure for reconfigurability and for adaptibility. This type of mechanisms arouse a good interest worldwide in creating a new structure of robots for metamorphic robots. The novel property of this type of mechanisms has been discovered and new structures of the mechanisms have been developed, leading to creating a way of innovation in the mechanism design and development. |
Exploitation Route | This novel discovery and develoment were cited by researchers worldwide and led to the First International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009), and the subsequent conferences. The work is leading a trend on reconfigurable mechanisms and robots and led to several invitations to give keynote speeches and plennary presentations in conferences and workshops in France, Italy, US, China. |
Sectors | Education,Manufacturing, including Industrial Biotechology |
URL | https://kclpure.kcl.ac.uk/portal/en/publications/geometry-and-constraint-analysis-of-the-3spherical-kinematic-chain-based-parallel-mechanism(4acc6186-17d1-4146-bbbf-4c9da8837f2a)/export.html |
Description | This has generated a great impact worldwide on the trend of reconfigurable mechanisms and robots from both academics and industrialists. The methodologies were used by academics in many universities, including Genova University, French Institute for Advanced Mechanics, Ohio University, Beijing University of Aeronautics and Astronautics, Tianjin University. Publications were cited many times, and methods, including new way in algorithms with newly developed matrices were used by researchers. |
First Year Of Impact | 2008 |
Sector | Aerospace, Defence and Marine,Agriculture, Food and Drink,Education,Energy,Healthcare,Manufacturing, including Industrial Biotechology,Pharmaceuticals and Medical Biotechnology |
Impact Types | Societal |
Description | Commission of the European Communities |
Amount | £500,640 (GBP) |
Funding ID | TOMSY |
Organisation | European Commission |
Sector | Public |
Country | European Union (EU) |
Start | 04/2011 |
End | 03/2014 |
Description | Commission of the European Communities |
Amount | £130,000 (GBP) |
Funding ID | DEXDEB |
Organisation | European Commission |
Sector | Public |
Country | European Union (EU) |
Start | 06/2011 |
End | 03/2013 |
Description | Commission of the European Communities |
Amount | £375,000 (GBP) |
Funding ID | COSMOS |
Organisation | European Commission |
Sector | Public |
Country | European Union (EU) |
Start | 04/2011 |
End | 03/2014 |
Description | Commission of the European Communities |
Amount | £375,000 (GBP) |
Funding ID | COSMOS |
Organisation | European Commission |
Sector | Public |
Country | European Union (EU) |
Start |
Description | Commission of the European Communities |
Amount | £130,000 (GBP) |
Funding ID | DEXDEB |
Organisation | European Commission |
Sector | Public |
Country | European Union (EU) |
Start |
Description | EC-European Commission, FP7 |
Amount | £650,000 (GBP) |
Funding ID | SQUIRREL |
Organisation | European Commission |
Sector | Public |
Country | European Union (EU) |
Start | 02/2014 |
End | 01/2018 |
Description | Creating physical structure from disarray |
Form Of Engagement Activity | A talk or presentation |
Part Of Official Scheme? | No |
Geographic Reach | National |
Primary Audience | Professional Practitioners |
Results and Impact | Poster for Food Manufacturing Engineering Group (FMEG) meeting at ABB. Milton Keynes |
Year(s) Of Engagement Activity | 2011 |