• CN:11-2187/TH
  • ISSN:0577-6686

›› 2002, Vol. 38 ›› Issue (9): 12-16.

• 论文 • 上一篇    下一篇

一种变胞机构——魔术花球的自由度分析

李端玲;戴建生;张启先;金国光   

  1. 北京航空航天大学机器人研究所;伦敦大学国王学院;北京航空航天大学
  • 发布日期:2002-09-15

MOBILITY OF A KIND OF METAMORPHIC MECHANISM——MAGIC BALL

Li Duanling;Dai Jiansheng;Zhang Qixian;Jin Guoguang   

  1. Beijing University of Aeronautics and Astronautics King's College, University of London
  • Published:2002-09-15

摘要: 介绍了一种常以手工艺品形式出现的可高度展开、折叠的变胞机构。通过去除不影响机构自由度的运动子链,进行了机构的结构分解,得到了空间并联四分支及三分支机构等基本运动链。运用旋量理论对各运动子链进行了虚约束和公共约束的判定,计算了它们的自由度。基于对魔球机构结构分解和虚约束的系统分析,提出了魔球机构自由度分析的理论基础,得到了其自由度及特点。应用回路连接矩阵对结果进行了验证。

关键词: 变胞机构, 平台, 旋量系, 运动链, 自由度

Abstract: One of the popular artefacts available in people's collections is introduced as a highly expandable and collapsible structure. Starting by removing the kinematic chains which do not influence the mechanism mobility, the magic ball mechanism is hypothetically disintegrated into several kinematic chains, and subsequently two platform-like kinematic sub-chains which have three legs and four legs respectively. The theory of a screw system and its reciprocal system is used lo examine the virtual constraints and common constraints in each of the kinematic sub-chains and to further examine the mobility of those sub-chains, Based on a systematic analysis in mechanism decomposition and in the analysis of virtual constraints, a theoretical basis for the mobility analysis of the mechanism is produced and then its characteristics of mobility are obtained. The result is verified by using the loop-connectivity approach.

Key words: Kinematic chain Platform, Mobility Screw system Metamorphic mechanism

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