变胞机构构态切换时的冲击问题分析与仿真研究

doi:10.3901/JME.2020.17.048

机械工程学报 ›› 2020, Vol. 56 ›› Issue (17): 48-58.doi: 10.3901/JME.2020.17.048

扫码分享

变胞机构构态切换时的冲击问题分析与仿真研究

宋艳艳^1,2, 畅博彦^1,2, 金国光^1,2, 魏展^1,2, 李博^1,2

1. 天津工业大学机械工程学院天津 300387;
2. 天津工业大学天津市现代机电装备技术重点实验室天津 300387

收稿日期:2019-09-30 修回日期:2020-01-09 出版日期:2020-09-05 发布日期:2020-10-19
通讯作者: 金国光(通信作者),男,1963年出生,博士,教授,博士研究生导师。主要研究方向为机械设计及理论、机器人机构学、机械系统动力学与控制。E-mail:jinguoguang@tiangong.edu.cn
作者简介:宋艳艳,女,1993年出生,博士研究生。主要研究方向为变胞机构结构学、运动学和动力学。E-mail:yan_yan_song@126.com
基金资助:
天津市自然科学基金（17JCQNJC03900，18JCQNJC05300）、天津市教委科研计划（2018KJ205）、天津市高等学校创新团队培养计划（TD13-5037）和国家自然科学基金（51475330）资助项目。

Analysis and Simulation of Impact Problem of Metamorphic Mechanism Considering Configuration Transformation

SONG Yanyan^1,2, CHANG Boyan^1,2, JIN Guoguang^1,2, WEI Zhan^1,2, LI Bo^1,2

1. School of Mechanical Engineering, Tiangong University, Tianjin 300387;
2. Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology, Tiangong University, Tianjin 300387

Received:2019-09-30 Revised:2020-01-09 Online:2020-09-05 Published:2020-10-19

摘要/Abstract

摘要： 研究变胞机构在构态切换过程中的冲击问题。根据变胞机构的变胞方式，将构态切换时产生的冲击运动分为静冲击运动和动冲击运动两类。采用Newton-Euler方程分别建立变胞机构的静/动冲击动力学模型，并结合经典碰撞理论和恢复系数方程，推导出构态切换时变胞构件的静/动冲量求解模型。对变胞机构的静/动冲击动力学模型进行等效分析，分别求得变胞运动副处的冲量与静/动冲量之间的函数表达式，并以此为基础，结合树系统内部冲击动力学理论，建立变胞机构非变胞运动副处的冲量求解模型。以平面3自由度变胞机构和平面纸板折叠变胞机构为例，研究机构在构态切换时的冲击问题并进行数值仿真计算，分析不同输入特性和恢复系数对机构冲击运动的影响。所提理论与方法也适用于多体系统内部构件之间冲击问题的研究。

关键词: 变胞机构, 构态切换, 冲击运动, 冲量求解模型

Abstract: The impact problem of metamorphic mechanism in the process of configuration transformation is investigated. According to the metamorphic mode of the metamorphic mechanism, the impact motion generated by configuration transformation can be divided into stable impact motion and movable impact motion. The stable/movable impact dynamic models of metamorphic mechanism are established by the Newton-Euler equation, and the stable/movable impulse solving models are derived from classical collision theory and recovery coefficient equation. By equivalent analysis of the stable/movable impact dynamic models of the metamorphic mechanism, the functional relations between the impulse at the metamorphic joint and the stable/movable impulse are obtained respectively. Based on the internal impact dynamic theory of serial mechanism, the impulse solving model at non-metamorphic joint is established. Taking the planar 3-DOF metamorphic mechanism and the planar double folded metamorphic mechanism as examples, their impact problems are studied and numerical simulations are carried out to analyze the effect of different input characteristics and recovery coefficients on the impact motion. The proposed theory and method can also be applied to the study of impact between internal components of multi-body system.

Key words: metamorphic mechanism, configuration transformation, impact motion, impulse solving model

中图分类号:

TH12

宋艳艳, 畅博彦, 金国光, 魏展, 李博. 变胞机构构态切换时的冲击问题分析与仿真研究[J]. 机械工程学报, 2020, 56(17): 48-58.

SONG Yanyan, CHANG Boyan, JIN Guoguang, WEI Zhan, LI Bo. Analysis and Simulation of Impact Problem of Metamorphic Mechanism Considering Configuration Transformation[J]. Journal of Mechanical Engineering, 2020, 56(17): 48-58.

参考文献

[1] 王冰,方跃法. 基于球面五杆机构的变胞并联机构构型综合[J]. 机械工程学报,2018,54(19):18-26. WANG Bing,FANG Yuefa. Type synthesis of meta-morphic parallel mechanism with spherical five bar linkage[J]. Journal of Mechanical Engineering,2018,54(19):18-26.
[2] DAI Jiansheng,ZHANG Qixian. Metamorphic mechanisms and their configuration models[J]. Chinese Journal of Mechanical Engineering,2000,13(3):212-218.
[3] 李树军,王洪光,李小彭,等. 面向作业任务的约束变胞机构设计方法[J]. 机械工程学报,2018,54(3):26-35. LI Shujun,WANG Hongguang,LI Xiaopeng,et al. Task-orientated design method of practical constraint metamorphic mechanisms[J]. Journal of Mechanical Engineering,2018,54(3):26-35.
[4] ZHENG Yuanfang,HEMAMI H. Mathematical modeling of a robot collision with its environment[J]. Journal of Field Robotics,2010,2(3):289-307.
[5] LEE S,YI B,KIM S,et al. Modeling and analysis on the internal impact of a Stewart platform utilized for spacecraft docking[J]. Advanced Robotics,2001,15(7):763-777.
[6] 杨世明,金国光,贠今天,等. 变胞机构冲击运动的研究[J]. 中国机械工程,2009,20(13):1608-1612. YANG Shiming,JIN Guoguang,YUN Jintian,et al. Research on impact motion in metamorphic mechanism[J]. China Mechanical Engineering,2009,20(13):1608-1612.
[7] HU Shenghai,ZHANG Manhui,ZHANG Baoping,et al. Design and accuracy analysis of a metamorphic CNC flame cutting machine for ship manufacturing[J]. Chinese Journal of Mechanical Engineering,2016,29(5):930-943.
[8] 荣誉,曲梦可. 基于变胞机构的性能可变机械臂研制[J]. 机械工程学报,2018,54(15):41-59. RONG Yu,QU Mengke. Design of manipulator with variable performances based on metamorphic mechanism[J]. Journal of Mechanical Engineering,2018,54(15):41-59.
[9] 李小彭,高建卓,李加胜,等. 参数变化对约束变胞机构构态变换随机性的影响[J]. 中南大学学报,2017,48(6):93-98. LI Xiaopeng,GAO Jianzhuo,LI Jiasheng,et al. Effect of parameters variation on random working configurations of constraints metamorphic mechanism[J]. Central South University,2017,48(6):93-98.
[10] 李小彭,毛昕,高建卓,等. 五杆机构构态变换过程中的动力学特性研究[J]. 机械设计与制造,2017(12):90-93. LI Xiaopeng,MAO Xin,GAO Jianzhuo,et al. Impact analysis of the parameters variation on the dynamic performance of the constraints metamorphic mechanism[J]. Machinery Design and Manufacture,2017(12):90-93.
[11] 崔允浩,李树军. 变胞机构构态变换可靠性分析模型[J]. 机械与电子,2016,34(1):31-34. CUI Yunhao,LI Shujun. The reliability analysis model of constraint metamorphic mechanism configuration trans-formation[J]. Mechanical and Electronics,2016,34(1):31-34.
[12] 刘秀莲,刘俊香,张校东,等. 复杂曲面切割机变胞机构构态变换稳定性研究[J]. 机床与液压,2013,41(11):39-41. LIU Xiulian,LIU Junxiang,ZHANG Xiaodong,et al. Research on configuration transformation stability for the complex-surface cutting metamorphic mechanism[J]. Machine Tool and Hydraulics,2013,41(11):39-41.
[13] 王黎斌,谢进,陈永. 构态变换有碰撞的变胞机构动力学性能分析[J]. 机械设计,2012,29(2):51-54. WANG Libin,XIE Jin,CHEN Yong. Dynamic analysis of metamorphic mechanism with impact as its con-figuration change[J]. Machinery Design,2012,29(2):51-54.
[14] 甄伟鲲,康熙,张新生,等. 一种新型四足变胞爬行机器人的步态规划研究[J]. 机械工程学报,2016,52(11):26-33. ZHEN Weikun,KANG Xi,ZHANG Xinsheng,et al. Gait planning of a novel metamorphic quadruped robot[J]. Journal of Mechanical Engineering,2016,52(11):26-33.
[15] 王汝贵,陈辉庆,戴建生. 新型可控变胞式码垛机器人机构动态稳定性研究[J]. 机械工程学报,2017,53(13):39-47. WANG Rugui,CHEN Huiqing,DAI Jiansheng. Dynamic stability study of a novel controllable metamorphic palletizing robot mechanism[J]. Journal of Mechanical Engineering,2017,53(13):39-47.
[16] XU Kun,ZI Peijin,DING Xilun. Gait analysis of quadruped robot using the equivalent mechanism concept based on metamorphosis[J]. Chinese Journal of Mechanical Engineering,2019,32(1):31-41.
[17] ZHANG Long,JIA Qingxuan,CHEN Gang,et al. The analysis of capture strategy for redundant space manipulator when performing snare capture[J]. Advances in Mechanical Engineering,2016,8(10):1-12.
[18] DUAN Yuechen,ZHANG Dingguo. Rigid-flexible coupling dynamics of a flexible robot with impact[J]. Advanced Materials Research,2011,199-200:243-250.
[19] 段玥晨,章定国,洪嘉振. 作大范围运动柔性梁的一种碰撞动力学求解方法[J]. 机械工程学报,2012,48(19):95-102. DUAN Yuechen,ZHANG Dingguo,HONG Jiazhen. Method for solving the impact problem of a flexible beam with large overall motion[J]. Journal of Mechanical Engineering,2012,48(19):95-102.
[20] 董楸煌,陈力. 柔性空间机械臂捕获卫星碰撞动力学分析、镇定运动神经网络控制及抑振[J]. 机械工程学报,2014,50(9):34-42. DONG Qiuhuang,CHEN Li. The impact dynamics analysis of flexible space manipulator capturing a satellite and neural network calming motion control and vibration suppression[J]. Journal of Mechanical Engineering,2014,50(9):34-42.
[21] KHULIEF Y A,SHABANA A A. Dynamic analysis of constrained system of rigid and flexible bodies with intermittent motion[J]. American Society of Mechanical Engineers,1986,108(1):38.
[22] CHAPNIK B V,HEPPLER G R,APLEVICH J D. Modeling impact on a one-link flexible robotic arm[J]. IEEE Trans Robotics & Automation,1991,7(4):479-488.
[23] 华卫江,章定国. 柔性机器人系统碰撞动力学建模[J]. 机械工程学报,2007,43(12):222-228. HUA Weijiang,ZHANG Dingguo. Modeling of impact dynamics of flexible robots[J]. Journal of Mechanical Engineering,2007,43(12):222-228.
[24] 金国光,武光涛,畅博彦,等. 机械臂接触碰撞动力学分析[J]. 农业机械学报,2016,47(11):369-375. JIN Guoguang,WU Guangtao,CHANG Boyan,et al. Dynamic analysis of manipulator with contact impact[J]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(11):369-375.
[25] YIGIT A S. The effect of flexibility on the impact response of a two-link rigid-flexible manipulator[J]. Journal of Sound & Vibration,1994,177(3):349-361.
[26] 白争锋,赵阳,田浩. 柔性多体系统碰撞动力学研究[J]. 振动与冲击,2009,28(6):75-78. BAI Zhengfeng,ZHAO Yang,TIAN Hao. Study on contact dynamics for flexible multi-body system[J]. Journal of Vibration and Shock,2009,28(6):75-78.
[27] LEE S H,YI B J,KIM S,et al. Analysis on impact propagation of docking platform for spacecraft[C]//Proceedings of the 2001 IEEE International Conference on Robotics & Automation,Korea:IEEE,2001:413-420.
[28] 金国光. 变胞机构结构学、运动学及动力学研究[D]. 北京:北京航空航天大学,2003. JIN Guoguang. Research on structure theory,kinematics and dynamics of metamorphic mechanism[D]. Beijing:Beijing University of Aeronautics and Astronautics,2003.
[29] 王德伦,戴建生. 变胞机构及其综合的理论基础[J]. 机械工程学报,2007,43(8):32-42. WANG Delun,DAI Jiansheng. Metamorphic mechanisms and the synthesis theory[J]. Chinese Journal of Mechanical Engineering,2007,43(8):32-42.
[30] 畅博彦,金国光,戴建生. 基于变约束旋量原理的变胞机构构型综合[J]. 机械工程学报,2014,50(5):17-25. CHANG Boyan,JIN Guoguang,DAI Jiansheng. Type synthesis of metamorphic mechanism based on variable constraint screw theory[J]. Journal of Mechanical Engineering,2014,50(5):17-25.

变胞机构构态切换时的冲击问题分析与仿真研究

Analysis and Simulation of Impact Problem of Metamorphic Mechanism Considering Configuration Transformation

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	梁友鉴, 赵杰亮, 阎绍泽. 基于蜜蜂腹部变体机制的空天飞行器仿生变体头锥设计[J]. 机械工程学报, 2020, 56(5): 47-54.
[2]	徐坤, 乔安伟, 丁希仑. 剪叉弯曲折展变胞机构的设计与分析[J]. 机械工程学报, 2020, 56(5): 55-62.
[3]	李树军, 王洪光, 李小彭, 杨贺绪, 戴建生. 面向作业任务的约束变胞机构设计方法[J]. 机械工程学报, 2018, 54(3): 26-35.
[4]	王冰, 方跃法. 基于球面五杆机构的变胞并联机构构型综合[J]. 机械工程学报, 2018, 54(19): 18-26.
[5]	王汝贵, 陈辉庆, 戴建生. 新型可控变胞式码垛机器人机构动态稳定性研究[J]. 机械工程学报, 2017, 53(13): 39-47.
[6]	郭令郭为忠高峰. 支链末端特征的轴线迁移定理与应用[J]. 机械工程学报, 2015, 51(7): 24-29.
[7]	张利萍;戴建生杨廷力;庞桂兵;杨林. 几何约束驱动的可重构位移子群建模理论[J]. , 2014, 50(7): 23-31.
[8]	畅博彦;金国光;戴建生. 基于变约束旋量原理的变胞机构构型综合[J]. , 2014, 50(5): 17-25.
[9]	蔡敢为;潘宇晨;王红州;戴建生. 基于功能分析的新型装载机构型综合研究[J]. , 2014, 50(11): 50-59.
[10]	潘宇晨;蔡敢为;王红州;高德中;戴建生. 具有变胞功能的电动装载机构构态进化拓扑结构分析与基因建模[J]. , 2014, 50(1): 38-46.
[11]	张武翔;丁希仑;戴建生. 基于约束变化特征分析的变胞机构构型综合方法[J]. , 2013, 49(5): 1-9.
[12]	王汝贵;戴建生. 一种新型平面-空间多面体可重构变胞机构的设计与分析[J]. , 2013, 49(11): 29-35.
[13]	刘江南;于德介. 基于约束函数的变胞机构变胞方程[J]. , 2012, 48(9): 1-9.
[14]	杨飞;陶建国;邓宗全. 描述变胞机构构态变换的一种新方法及其在构型综合中的应用[J]. , 2011, 47(15): 1-8.
[15]	李端玲;张忠海;戴建生;张克涛. 变胞机构的研究综述与展望[J]. , 2010, 46(13): 14-21.