Kinematics analysis and simulation of a novel metamorphic parallel cutting mechanism

Shenghai Hu¹, Xiulian Liu^1,2, Manhui Zhan¹

¹School of Mechanics Engineering, Harbin Engineering University, Harbin 150001, China
²School of Mechanical Engineering, Heilongjiang University of Science and Technology, Harbin 150027, China

Based on the metamorphic mechanisms, we proposed a new type of metamorphic kinematic pair, with which a novel metamorphic parallel cutting mechanism was designed to achieve changing pose and trajectory movement. Using the screw theory and the product of exponentials formula, we constructed a nonlinear system of equations for each configuration framework of the metamorphic parallel cutting mechanism, and the Sylvester resultant elimination method was employed to simplify equations of motion for the mechanism, thereby completing the research about the forward and inverse kinematics solution of the original and sub-configuration framework and verifying the feasibility of this novel mechanism via MATLAB and ADAMS simulation.