一种单自由度对称可展耦合机构的设计

doi:10.3901/JME.2018.05.062

机械工程学报 ›› 2018, Vol. 54 ›› Issue (5): 62-73.doi: 10.3901/JME.2018.05.062

扫码分享

一种单自由度对称可展耦合机构的设计

高慧芳, 刘婧芳, 余跃庆

北京工业大学机械工程与应用电子技术学院北京 100124

收稿日期:2016-09-27 修回日期:2017-02-27 出版日期:2018-03-05 发布日期:2018-03-05
通讯作者: 刘婧芳(通信作者),女,1985年出生,副教授。主要研究方向为机构学理论和方法设计。E-mail:jfliu@bjut.edu.cn
作者简介:高慧芳,女,1988年出生,博士研究生。主要研究方向为机构学理论和方法设计。E-mail:gaohuifang369@126.com;余跃庆,男,1958年出生,教授,博士研究生导师。主要研究方向为机构及机器人动力学。E-mail:yqyu@bjut.edu.cn
基金资助:
国家自然科学基金资助项目（51475015）。

Design of a 1-DOF Symmetrical Deployable Coupled Mechanism

GAO Huifang, LIU Jingfang, YU Yueqing

College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124

Received:2016-09-27 Revised:2017-02-27 Online:2018-03-05 Published:2018-03-05

摘要/Abstract

摘要： 基于正十二面体结构的特殊性和对称性，提出一种具有一个移动自由度的对称可展耦合机构。针对正十二面体包含的几何要素及空间布局，建立耦合框架结构，定义对应的构件类型并确定支链组成，根据各构件的连接情况设计3种类型替代构件，按照耦合框架结构用转动运动副（R副）将替代构件顺次连接，构建出机构基础模型。分析基本单元环的内部约束，在确定其具有可动性的基础上对机构基础模型的自由度及输出运动性质进行分析，设计出期望的对称耦合机构。建立耦合机构的三维实体模型，设置不同的驱动条件，通过Matlab获得节点构件和末端件的位移变化曲线，得到的结果与理论分析结果一致，表明提出的新机构是一种具有可展性的单移动自由度对称耦合机构。

关键词: 多环耦合机构, 可展机构, 替代构件, 正十二面体

Abstract: A symmetrical deployable coupled mechanism with one translational degree of freedom (DOF) is proposed based on the particularity and symmetry of a regular dodecahedron. According to the spatial arrangement of all component geometrical elements in a regular dodecahedron, the construction of coupled framework is established. All component parts can be defined and motion chains can be obtained correspondingly. Three types of substitutive components are designed on the basis of the merging condition of above defined parts in coupled framework. The equivalent geometrical model is spliced with the given substitutive parts just by rotation joints (R). The DOF of the model is calculated and the output motion is analyzed under the condition that the elementary loop corresponding to a regular pentagon in a regular dodecahedron is movable. The expected symmetrical coupled mechanism can be established based on the mobility analysis of the entire model. The three-dimensional SolidWorks model of the coupled mechanism is build. The displacement variations of the end and nodes under different driving conditions are simulated and revealed with time-displacement curves by Matlab. Simulation results show that the novel mechanism is a symmetrical deployable coupled mechanism with one translation DOF.

Key words: coupled mechanism, deployable mechanism, regular dodecahedron, substitutive component

中图分类号:

TH112

高慧芳, 刘婧芳, 余跃庆. 一种单自由度对称可展耦合机构的设计[J]. 机械工程学报, 2018, 54(5): 62-73.

GAO Huifang, LIU Jingfang, YU Yueqing. Design of a 1-DOF Symmetrical Deployable Coupled Mechanism[J]. Journal of Mechanical Engineering, 2018, 54(5): 62-73.

参考文献

[1] 黄真,赵铁石,赵永生. 高等空间机构学[M]. 北京:高等教育出版社,2006. HUANG Zhen,ZHAO Tieshi,ZHAO Yongsheng. Advanced spatial mechanism[M]. Beijing:Higher Education Press,2006.
[2] CAMPOS A,BUDDE C,HESSELBACH J. A type synthesis method for hybrid robot structures[J]. Mechanism and Machine Theory,2008,43(8):984-995.
[3] YAN Changya,GAO Feng,GUO Weizhong. Coordinated kinematic modeling for motion planning of heavy-duty manipulators in an integrated open-die forging centre[J]. Proceedings of the Institution of Mechanical Engineers,Part B:Journal of Engineering Manufacture,2009,223(10):1299-1313.
[4] ZENG Qiang,FANG Yuefa. Structural synthesis and analysis of serial-parallel hybrid mechanisms with spatial multi-loop kinematic chain[J]. Mechanism and Machine Theory,2012,49:198-215.
[5] 沈惠平,赵海彬,邓嘉鸣,等. 基于自由度分配和方位特征集的混联机器人机型设计方法及应用[J]. 机械工程学报,2011,47(23):56-64. SHEN Huiping,ZHAO Haibin,DENG Jiaming,et al. Type design method and the application for hybrid robot based on freedom distribution and position and orientation characteristic set[J]. Journal of Mechanical Engineering,2011,47(23):56-64.
[6] 高峰. 机构学研究现状与发展趋势的思考[J]. 机械工程学报,2005,41(8):3-17. GAO Feng. Reflection on the current status and development strategy of mechanism research[J]. Chinese Journal of Mechanical Engineering,2005,41(8):3-17.
[7] HUNT K H. Kinematic geometry of mechanisms[M]. Oxford:Oxford University Press,1978.
[8] KONG Xianwen,GOSSELIN C M. Forward displacement analysis of third-class analytic 3-RPR planar parallel manipulators[J]. Mechanism and Machine Theory,2001,36(9):1009-1018.
[9] HUANG Zhen,LI Qinchuan. Type synthesis of symmetrical lower-mobility parallel mechanisms using constraint-synthesis method[J]. The International Journal of Robotics Research,2003,22(1):59-79.
[10] HERVÉ J M. The Lie group of rigid body displacements,a fundamental tool for mechanism design[J]. Mechanism and Machine Theory,1999,34(5):719-730.
[11] 杨廷力. 机器人机构拓扑结构学[M]. 北京:科学出版社,2004. YANG Tingli. Theory and application of robot mechanism topology[M]. Beijing:Science Press,2004.
[12] GOGU G. Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations[J]. European Journal of Mechanics A/Solids,2004,23(6):1021-1039.
[13] 黄真,刘婧芳,李艳文. 论机构自由度[M]. 北京:科学出版社,2011. HUANG Zhen,LIU Jingfang,LI Yanwen. Theory on degree of freedom of mechanisms[M]. Beijng:Science Press,2011.
[14] WEI Guowu,DING Xilun,DAI Jiansheng. Mobility and geometric analysis of the Hoberman switch-pitch ball and its variant[J]. Journal of Mechanisms and Robotics,2010,2(3):1049-1059.
[15] 刘婧芳,黄晓欧,余跃庆,等. 多环耦合机构末端件自由度计算的等效法[J]. 机械工程学报,2014,50(23):13-19. LIU Jingfang,HUANG Xiaoou,YU Yueqing,et al. Equivalent method of output mobility calculation for a novel multi-loop coupled mechanism[J]. Journal of Mechanical Engineering,2014,50(23):13-19.
[16] 高慧芳,刘婧芳,黄晓欧. 基于独立运动分流标记法的多环耦合机构自由度分析方法[J]. 北京工业大学学报,2015,41(11):1658-1664. GAO Huifang,LIU Jingfang,HUANG Xiaoou. Method of mobility calculation for a coupled mechanism based on independent motion shunting measurement[J]. Journal of Beijing University of Technology,2015,41(11):1658-1664.
[17] DING Xilun,YANG Yi,DAI Jiansheng. Topology and kinematic analysis of color-changing ball[J]. Mechanism and Machine Theory,2010,46(1):67-81.
[18] LALIBERTÉ T,GOSSRLIN C M. Construction,mobility analysis and synthesis of polyhedra with articulated faces[J]. Journal of Mechanisms and Robotics,2013,6(1):011007(1-11).
[19] WEI Guowu,DAI Jiansheng. A spatial eight-bar linkage and its association with the deployable Platonic mechanisms[J]. Journal of Mechanisms and Robotics,2014,6(2):021010(1-9).
[20] WEI Guowu,YAO Chen,DAI Jiansheng. Synthesis,mobility,and multifurcation of deployable polyhedral mechanisms with radially reciprocating motion[J]. Journal of Mechanical Design,Transactions of the ASME,2014:136(9):091003(1-12).
[21] 李晔卓,田耀斌,姚燕安. 可折叠双三角锥滚动机构[J]. 机械工程学报,2014,50(11):68-79. LI Yehua,TIAN Yaobin,YAO Yanan. Foldable triangular bipyramid rolling mechanism[J]. Journal of Mechanical Engineering,2014,50(11):68-79.
[22] AKIRA M,SATESHI H,MITSUNOBU W. Key technologies for high accuracy large mesh antenna reflectors[J]. Acta Astronautica,2003,53(11):899-908.
[23] ZI Bin,DING Huafeng,CAO Jianbin,et al. Integrated mechanism design and control for completely restrained hybrid-driven based cable parallel manipulators[J]. Journal of Intelligent and Robotic Systems:Theory and Applications,2014,74:643-661.
[24] YOU Zhong. Motion structures extend their reach[J]. Materials Today,2007,10(12):52-57.
[25] 杨毅,丁希仑. 基于空间多面体向心机构的伸展臂设计研究[J]. 机械工程学报,2011,47(5):26-34. YANG Yi,DING Xilun. Design and analysis of mast based on spatial polyhedral linkages mechanism along radial axes[J]. Journal of Mechanical Engineering,2011,47(5):26-34.
[26] 高慧芳,刘婧芳,余跃庆. 向心运动耦合机构设计与分析[J]. 农业机械学报,2016,47(6):373-380,356. GAO Huifang,LIU Jingfang,YU Yueqing. Design and analysis of coupled radial mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(6):373-380,356.

一种单自由度对称可展耦合机构的设计

Design of a 1-DOF Symmetrical Deployable Coupled Mechanism

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 12

编辑推荐

Metrics

本文评价

[1]	刘恩博, 赵永生, 李永杰, 郭笑宇, 许允斗. 正馈构架可展天线机构卸载方法与实验研究[J]. 机械工程学报, 2024, 60(15): 38-48.
[2]	畅博彦, 张浩楠, 梁栋, 金国光. 具有三阶幻方拓扑构型的厚板折纸机构运动相容性分析[J]. 机械工程学报, 2023, 59(11): 201-212.
[3]	申理精, 耿坤, 李盘浩, 张静. 索杆桁架式可展开机构设计与力学分析[J]. 机械工程学报, 2022, 58(17): 135-143.
[4]	畅博彦, 杨帅, 金国光, 张转, 朱永杰. 基于直线驱动的空间可展机构运动分析[J]. 机械工程学报, 2020, 56(5): 192-201.
[5]	刘文兰, 许允斗, 郭金伟, 姚建涛, 赵永生. 被动输入过约束四面体可展天线机构动力学分析[J]. 机械工程学报, 2020, 56(5): 181-191.
[6]	杨栋皓, 曹文熬, 丁华锋. 基于新型两层两环连杆的一族伞状可展机构的构型综合[J]. 机械工程学报, 2020, 56(5): 150-160.
[7]	郝艳玲, 李锐明, 孙学敏, 姚燕安. 可重构立方体机构的设计与运动模式分析[J]. 机械工程学报, 2020, 56(13): 120-127.
[8]	郭金伟, 许允斗, 刘文兰, 姚建涛, 赵永生. 基于四面体单元的新型可展机构自由度分析[J]. 机械工程学报, 2019, 55(12): 9-18.
[9]	张武翔, 杨毅, 罗均, 谢少荣, 周鑫, 李恒宇. 多环闭链可展机构尺寸调整方法[J]. 机械工程学报, 2015, 51(19): 11-20.
[10]	刘婧芳;黄晓欧;余跃庆;丁华锋;黄真. 多环耦合机构末端件自由度计算的等效法[J]. , 2014, 50(23): 13-19.
[11]	李端玲;张忠海;于振. 球面剪叉可展机构的运动特性分析[J]. , 2013, 49(13): 1-7.
[12]	杨毅;丁希仑. 基于空间多面体向心机构的伸展臂设计研究[J]. , 2011, 47(5): 26-34.