An Approach for the Impact Dynamic Modeling and Simulation of Planar Constrained Metamorphic Mechanism

Table 2

Geometric and inertia parameters of the planar double-folded metamorphic mechanism.

Parameter	Value	Parameter	Value
L AB (m)	0.08	L BC (m)	0.2
L CD (m)	0.09	L AEy (m)	0.1425
m 1 (kg)	0.075	m 2 (kg)	0.165
m 3 (kg)	0.162	m 4 (kg)	0.455
J 1 (kg·m^2)		J BC (kg·m^2)
J DC (kg·m^2)		k (N·m/rad)
c (N·m/(rad/s))		(rad)	1.095

Note. L_AB is the corresponding link length between joints A and B, L_BC is the corresponding link length between joints B and C, L_CD is the corresponding link length between joints C and D, L_AEy is the corresponding distance along the y-axis between joints A and E, is the mass of component i, J₁ is the moment of inertia of component 1 around the center of mass, J_BC is the moment of inertia of component 2 around the joint C, J_DC is the moment of inertia of component 3 around the joint C, k is the spring constant, c is the damping constant, and is the initial angle of the spring.