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  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2016, Vol. 52 ›› Issue (23): 94-101.doi: 10.3901/JME.2016.23.094

• 机构学及机器人 • 上一篇    下一篇

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具有缩放平台的串并联蠕动机构*

李锐明, 姚燕安   

  1. 北京交通大学机械与电子控制工程学院 北京 100044
  • 出版日期:2016-12-05 发布日期:2016-12-05
  • 作者简介:

    李锐明，男，1985年出生，博士研究生。主要研究方向为机构与机器人学。

    E-mail：08116302@bjtu.edu.cn

    姚燕安(通信作者)，男，1972年出生，教授，博士研究生导师。主要研究方向为机构与机器人学。

    E-mail：yayao@bjtu.edu.cn

  • 基金资助:
    * 国家科技支撑计划(2015BAK04B00)和北京市科技专项(Z161100003216024)资助项目; 20160502收到初稿，20160927收到修改稿;

Serial-parallel Inchworm Mechanism with Scalable Platforms

LI Ruiming, YAO Yanan   

  1. School of Mechanical， Electronic and Control Engineering， Beijing Jiaotong University， Beijing 100044
  • Online:2016-12-05 Published:2016-12-05

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摘要：

为探索新型移动机构及其移动方式，提出一种具有缩放平台的串并联移动机构。该机构由两个空间3-RPR并联机构串联组成，其三个平台均为可缩放移动平台。通过三个平台依次缩放配合支链的伸缩，该机构可实现蠕动运动。该机构兼具并联机构高刚度和串联机构运动空间大的优势。应用螺旋理论计算该机构的自由度，运用矢量法进行运动学分析。以攀爬管道内壁为应用案例，介绍该机构蠕动的详细步态。利用Solidworks进行详细的机械设计。利用ADAMS进行攀爬管道的动力学仿真，得到平台的位移曲线以及支链推杆的杆长变化曲线。制作一台原理样机，验证了该机构的自由度特性和蠕动步态。

关键词: 串并联机构, 过约束, 蠕动, 3-RPR

Abstract:

To explore new types of mobile mechanisms and their movement modes, a mobile serial-parallel mechanism with scalable platforms is proposed. The mechanism is comprised of two hybrid 3-RPR parallel mechanisms connected in series. Three mobile platforms of the serial-parallel mechanism are scalable. By combining the movements of platforms and limbs, the mechanism can achieve inchworm locomotion. The proposed mechanism possesses advantages of both series mechanisms and parallel mechanisms. The screw theory is used to calculate the degree-of-freedom (DOF) of the mechanism and the vector method is used to analyze the kinematics of the mechanism. The detailed gaits of inchworm locomotion are introduced by applying the mechanism to climbing the pipeline. The detailed mechanism structure is designed by Solidworks. Dynamic simulation of climbing pipeline is carried out by Adams to obtain the displacement curves of three platforms and length curves of limbs. A prototype is fabricated to verify the DOF characteristic and the inchworm locomotion gaits.

Key words: inchworm locomotion, over-constrainted, serial-parallel mechanism, 3-RPR

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