• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (6): 7-12.

• 论文 • 上一篇    下一篇

变胞原理和变胞机构类型

戴建生;丁希仑;邹慧君   

  1. 伦敦大学国王学院机械工程系;北京航空航天大学机器人研究所;上海交通大学机械工程与动力学院
  • 发布日期:2005-06-15

FUNDAMENTALS AND CATEGORIZATION OF METAMORPHIC MECHANISMS

Dai;Jiansheng;Ding Xilun;Zou Huijun   

  1. Department of Mechanical Engineering, King’s College, University of London Institute of Robotics, Beijing University of Aeronautics and Astronautics School of Mechanical and Power Engineering, Shanghai Jiaotong University
  • Published:2005-06-15

摘要: 追述了变胞机构的发展,首次阐述了变胞原理及其在变胞机构的应用。进一步探讨了变胞机构与其他机构的区别,提出了变胞机构的延伸和分类,有助于挖掘具有变胞特性的原有机构和设计构造新的变胞机构。探讨了变胞方式,阐明了数学模型在变胞构态演变中的运用。并进一步运用各种例子,探讨了变胞机构在国内外的发展和在机器人以及制造业的应用,尤其是变胞原理在机器人及机器手的应用。该研究奠定了变胞机构的理论基础,为变胞机构新的研究和发展开拓了道路。

关键词: 变胞机构, 数学模型, 应用, 原理

Abstract: The historical development of metamorphic mechanisms and for the first time explains the fundamentals of metamorphic mechanisms based on metamorphosis are reviewed. It distinguishes metamorphic mechanisms from deployable mechanisms and from kinematotropic mechanisms. The topological configuration changes of the mechanisms and their mathematical models are further introduced. A general categorization of metamorphic mechanisms is then proposed based on mechanism types, metamorphic ways and topological combinations that are expected to be further investigated, presenting a new way of developing new metamorphic mechanisms. Various applications in robotics, vehicles and manufacturing are concluded. A new horizon in both development and applications of metamorphic mechanisms is hence presented, leading to a new era of mechanism development that automatically adapts mechanisms for different environments and various task demands.

Key words: Application, Mathematical model, Metamorphic mechanisms, Principle

中图分类号: