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1、Chapter30ConfigurationChangeandMobilityAnalysisofaNewMetamorphicParallelMechanismUsedforBionicJointGuoguangJinandBoyanChangAbstractTraditionalbionicjointsincludingwrist,waist,ankleandshoulderhavethreerevolutedegreesoffreedom,whichcanbetreatedassphericaljoints,anditsstruct
2、ureispronetobedamagedwithimpactforcethroughthecenterofsphericaljoint.Inthispaper,anovelmetamorphicparallelmechanismwithtwoconfigurationsusedforbionicjointdesignispresented.Theoriginkinematicchainforthismetamorphicmechanism,whichisalsothefirstconfigurationmechanism,consistso
3、famovingplatform,abaseplateandfourconnectinglegsbetweenmovingplatformandbaseplate.Incontrastwithtraditionalanklejoint,aconstrainedtranslationaldegreeoffreedomcanbeactivatedinoriginkinematicchaintoavoidimpactdamage.Theoriginkinematicchaincantransformtothesecondconfiguratio
4、nmechanismwhichisinpossessionofthreerevolutedegreesoffreedomandequivalenttonormalsphericaljoint.Thetransformingprocessisrepresentedbynewincidencematrixandthemotioncharacteristicsofthismetamorphicmechanismindifferentconfigurationcorrespondingtoeachwork-stageareanalysedusin
5、gscrewtheory.KeywordsMetamorphicmechanismsBionicjointIncidencematrixScrewtheoryMobility30.1IntroductionBionicrobotisthebestcombinationofadvancedbionicstechnologyandroboticsinavarietyofapplication[1,2].Arobotlikehumanbeingorotheranimalsisanimaginationforthecommonpeopl
6、eanditisdepictedvividlyinsciencefiction.G.Jin(&)B.ChangSchoolofMechanicalEngineering,TianjinPolytechnicUniversity,Tianjin,Chinae-mail:jinguoguang@tjpu.edu.cnJ.S.Daietal.(eds.),AdvancesinReconfigurableMechanismsandRobotsI,333DOI:10.1007/978-1-4471-4141-9_30,ÓSpringer-Verl
7、agLondon2012334G.JinandB.ChangHowever,itisalmostimpossibletousemachinerytocompletelyimitatetheorganism.Unlessdoingthefullresearchonthecharacteristicsofbiologicalstructureandmotion[3]andestablishingthereasonablesimplifiedmodel,gen-eralizedbionicjointsandrobotsconsistofthes
8、ejointscanbedesignedanddeveloped.Ankle[4],waist[5,6],wristandshoulderjoints[7],themostcommonbionicjoint
