可重构立方体机构的设计与运动模式分析

doi:10.3901/JME.2020.13.120

机械工程学报 ›› 2020, Vol. 56 ›› Issue (13): 120-127.doi: 10.3901/JME.2020.13.120

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可重构立方体机构的设计与运动模式分析

郝艳玲¹, 李锐明², 孙学敏¹, 姚燕安¹

1. 北京交通大学机械及电子控制工程学院北京 100044;
2. 北京航空航天大学机器人研究所北京 100083

收稿日期:2019-10-28 修回日期:2020-04-20 出版日期:2020-07-05 发布日期:2020-08-01
通讯作者: 李锐明(通信作者),男,1985年出生,博士后。主要研究方向为机器人与机构学。E-mail:liruiming007@163.com
作者简介:郝艳玲,女,1972年出生,讲师。主要研究方向为机器人与机构学。E-mail:ylhao@bjtu.edu.cn
基金资助:
国家自然科学基金（51905015）和智能机器人与系统高精尖创新中心开放基金（2018IRS19）资助项目。

Design and Motion Pattern Analysis of Reconfigurable Cube Mechanism

HAO Yanling¹, LI Ruiming², SUN Xuemin¹, YAO Yanan¹

1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044;
2. Robotics Institute, Beihang University, Beijing 100083

Received:2019-10-28 Revised:2020-04-20 Online:2020-07-05 Published:2020-08-01

摘要/Abstract

摘要： 随着航空航天技术的飞速发展，大型空间折展机构的功能需求越来越多样化，具有多种展开模式的可重构可展机构应运而生。以可展立方体机构作为研究对象，介绍了其机构组成以及分层构造方法。通过分析立方体机构的相邻面单元间约束，绘制了面单元的机构简图，得到了面单元在正方形和长方形外轮廓下的几何约束条件。分析了三个相邻面单元的耦合运动情况，得到了三个面的可能运动模式，并在此基础上得到了立方体机构的可能运动模式。通过顶点连接、边连接、面连接，得到了两个立方体机构的组合机构，并开展了各种连接条件下的多模式分析。最后通过制作原理模型样机，搭建了边连接和面连接的立方体组合机构的典型构型，验证了理论分析的正确性。

关键词: 可重构机构, 可展机构, 立方体, 约束条件, 运动模式

Abstract: With the rapid development of aerospace technology, the functional requirements of large-scale space deployable mechanisms have become more and more diverse, and reconfigurable deployable mechanisms with multiple deployment modes have emerged. The deployable cube mechanism is taken as the research object, and its mechanism composition and layered construction method are introduced. By analyzing the constraints of the adjacent faces of the cube mechanism, the mechanism diagram of the face is drawn, and the geometric constraints of the face unit under the square and rectangular outer contours are obtained. The coupling motion of three adjacent face units is analyzed, and the possible motion modes of the three faces are obtained. Furthermore, the possible motion modes of the cube mechanism are obtained. A combination of two cube mechanisms is obtained by the vertex connection, the edge connection and the face connection, and multi-mode analysis under various connection conditions is analyzed. Finally, a prototype is fabricated, and the typical configurations of the edge connection and face connection of two cube combinations are built, which verifies the correctness of the theoretical analysis.

Key words: reconfigurable mechanism, deployable mechanism, cube, constraint conditions, motion pattern

中图分类号:

TG156

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.

HAO Yanling, LI Ruiming, SUN Xuemin, YAO Yanan. Design and Motion Pattern Analysis of Reconfigurable Cube Mechanism[J]. Journal of Mechanical Engineering, 2020, 56(13): 120-127.

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可重构立方体机构的设计与运动模式分析

Design and Motion Pattern Analysis of Reconfigurable Cube Mechanism

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