Topology Transformation Analysis on Serial Flexible Variable Topology Mechanism

Abstract

The flexible variable topology mechanism (FVTM) has become a research focus in the field of the mechanism because of its reconfigurable characteristics, which exhibit excellent adaptability in complicated working environments. In the process of topology transformation, the FVTM often generates impact, which leads to vibration and instability of the flexible elements. It seriously affects the accuracy and reliability of the operation. In view of this, this paper takes the serial-FVTM as an example to analyse its impact characteristics during topology transformation. The impact dynamics model is established by the theorem of impulse. Based on this, the fourth-order Runge-Kutta method is used to solve the dynamics differential equations. Using the control variable method, the influence of different parameters on the impact characteristics of the FVTM is obtained through numerical simulation analysis. Finally, the methods to improve the stability of the FVTM during topology transformation are analysed to expand new ideas for the subsequent research.