空间双层过约束可展机构的设计与分析

doi:10.3901/JME.2024.01.274

机械工程学报 ›› 2024, Vol. 60 ›› Issue (1): 274-283.doi: 10.3901/JME.2024.01.274

扫码分享

空间双层过约束可展机构的设计与分析

牟德君, 王雅静, 陆鹏程, 王童辉

燕山大学机械工程学院秦皇岛 066004

收稿日期:2023-04-20 修回日期:2023-09-12 发布日期:2024-03-15
作者简介:牟德君，女，1967年出生，副教授。主要研究方向为并联机器人理论与应用。E-mail：djmu@ysu.edu.cn
王雅静(通信作者)，女，1998年出生，硕士研究生。主要研究方向为智能制造系统应用。E-mail：wyj18710721968@163.com
陆鹏程，男，1998年出生，硕士研究生。主要研究方向为机构学理论与应用。E-mail：991993680@qq.com
王童辉，男，1994年出生，硕士研究生。主要研究方向为机器人运动轨迹规划。E-mail：578794631@qq.com
基金资助:
国家自然科学基金资助项目(52275033)。

Design and Analysis of Space Double-layer Over-constrained Deployable Mechanism

MU Dejun, WANG Yajing, LU Pengcheng, WANG Tonghui

School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004

Received:2023-04-20 Revised:2023-09-12 Published:2024-03-15

摘要/Abstract

摘要： 折展机构以其优越的折展性能，广泛应用于航空航天以及建筑等领域。以基于等边Bennett机构拓展得到的6R机构与三重对称Bricard机构巧妙结合，得到了一种可折展的环状机构，建立了多种过约束机构的几何模型并改进了环状机构的理论模型。利用D-H参数法对改进组合机构进行了运动学分析，得到其运动特性。以可折展环状机构为基本组网单元搭建了大尺度单层空间折展机构；以拓展6R机构衍生的7R机构结合Sarrus机构设计了可折展的连接单元，与单层折展机构复合构建空间双层可展机构，并提出了空间多层折展机构的可能性。

关键词: 空间折展机构, 过约束机构, 拓展6R机构, 组网

Abstract: The folding mechanism is widely used in aerospace, architecture and other fields because of its excellent folding performance. The 6R mechanism based on equilateral Bennett mechanism and the triple symmetric Bricard mechanism are combined to obtain a flexible ring mechanism, and a variety of geometric models of overconstrained mechanisms are established and the theoretical model of the ring mechanism is improved. The kinematic analysis of the improved combined mechanism is carried out by using D-H parameter method, and its motion characteristics are obtained. The large scale single-layer space folding mechanism is built with the folding ring mechanism as the basic networking unit. By expanding the 7R mechanism derived from 6R mechanism and combining with Sarrus mechanism, a flexible connection unit is designed, and a double-layer spatial flexible mechanism is constructed by combining with a single-layer spatial flexible mechanism.

Key words: space folding mechanism, over-constraint mechanism, extended 6R mechanism, networking

中图分类号:

TH112

牟德君, 王雅静, 陆鹏程, 王童辉. 空间双层过约束可展机构的设计与分析[J]. 机械工程学报, 2024, 60(1): 274-283.

MU Dejun, WANG Yajing, LU Pengcheng, WANG Tonghui. Design and Analysis of Space Double-layer Over-constrained Deployable Mechanism[J]. Journal of Mechanical Engineering, 2024, 60(1): 274-283.

参考文献

[1] ZHAO D J, ZHAO J S, YAN Z F. Planar deployable linkage and its application in overconstrained lift mechanism[J]. Journal of Mechanisms and Robotics, 2016, 8(2):021022.
[2] MUNAWAR H S. Reconfigurable origami antennas:A review of the existing technology and its future prospects[J]. Int. J. Wirel. Microw. Technol, 2020, 10: 34-38.
[3] ABULGASEM S, TUBBAL F, RAAD R, et al. Antenna designs for CubeSats:A review[J]. IEEE Access, 2021, 9:45289-45324.
[4] WOHLHART K. Merging two general Goldberg 5R linkages to obtain a new 6R space mechanism[J]. Mechanism and Machine Theory, 1991, 26(7):659-668.
[5] BAKER J E. A Comparative survey of the Bennett-based, 6-revolute kinematic loops[J]. Mechanism and Machine Theory, 1993, 28(1):83-96.
[6] SONG C Y, FENG H, CHEN Y, et al. Reconfigurable mechanism generated from the network of Bennett linkages[J]. Mechanism and Machine Theory, 2015, 88: 49-62.
[7] WEI G, DING X, DAI J S. Mobility and geometric analysis of the hoberman switch-pitch ball and its variant[J]. Journal of Mechanisms and Robotics, 2010, 2(3):031010.
[8] WEI G, DAI J S. A spatial eight-bar linkage and its association with the deployable platonic mechanisms[J]. Journal of Mechanisms and Robotics, 2014, 6(2):021010.
[9] KONG X. Type synthesis of single-loop overconstrained 6R spatial mechanisms for circular translation[J]. Journal of Mechanisms and Robotics, 2014, 6(4):041016.
[10] 郭金伟,黄志荣,许允斗,等. 一类基于四面体组合单元的模块化构架式可展天线机构[J]. 航空学报, 2020, 41(3):301-313. GUO Jinwei, HUANG Zhirong, XU Yundou, et al. A modular structured deployable antenna mechanism based on tetrahedral combination elements[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41(3):301-313.
[11] 郭金伟,许允斗,刘文兰,等. 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. GUO Jinwei, XU Yundou, LIU Wenlan, et al. Degree of freedom analysis of a new deployable mechanism based on tetrahedral elements[J]. Journal of Mechanical Engineering, 2019, 55(12):9-18.
[12] GUO J W, ZHAO Y, XU Y D, et al. Design and analysis of truss deployable antenna mechanism based on a novel symmetric hexagonal profile division method[J]. Chinese Journal of Aeronautics, 2020, 32(12):1-14.
[13] 韩博,韩媛媛,许允斗,等. 剪叉式过约束双环桁架可展天线机构的构型设计与自由度分析[J]. 机器人, 2019, 41(3):362-371. HAN Bo, HAN Yuanyuan, XU Yundou, et al. Configuration design and degree of freedom analysis of overconstrained double-ring truss deployable antenna mechanism with shear fork[J]. Robot, 2019, 41(3): 362-371.
[14] SONG X, GUO H, CHEN J, et al. Double-layer deployable mechanical network constructed of threefold-symmetric bricard linkages and Sarrus linkages[J]. Journal of Mechanisms and Robotics, 2021,13(6).
[15] SUN X, LI R, YAO Y A. Loop-construction mechanism and its network based on quadrilateral mechanisms[J]. Mechanism and Machine Theory, 2023, 181:105181.
[16] GAO Y, YANG F, CHEN B, et al. A deployable network with identical triangular panels based on a special twofold-symmetric Bricard 6R linkage[J]. Mechanism and Machine Theory, 2022, 178:105068.
[17] LIU M, SHI C, GUO H, et al. Innovative design and optimization of the modular high deployment ratio two-dimensional planar antenna mechanism[J]. Mechanism and Machine Theory, 2022, 174:104928.
[18] BENNETT G T. A new mechanism[J]. Engineering, 1903, 76:777-778.
[19] CHEN Y, YOU Z. An extended myard linkage and its derived 6R linkage[J]. Journal of Mechanical Design, 2008, 130(5):680-682.
[20] CHEN Y, YOU Z, TARNAI T. Threefold-symmetric Bricard linkages for deployable structures[J]. International Journal of Solids and Structures, 2005, 42(8):2287-2301.

空间双层过约束可展机构的设计与分析

Design and Analysis of Space Double-layer Over-constrained Deployable Mechanism

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 5

编辑推荐

Metrics

本文评价

[1]	姚鹏飞, 吕胜男, 张武翔, 丁希仑. 基于正四棱台Bricard单元的双环可展开天线机构构型设计[J]. 机械工程学报, 2023, 59(21): 147-156.
[2]	朱何荣,方佳维,陈桂友,王敏,熊慕文. 智能变电站同步系统对测量设备的影响及其处理策略[J]. 电气工程学报, 2020, 15(3): 143-149.
[3]	郭瑞峰, 连宾宾, 宋轶民, 齐杨, 孙涛. 基于FIS理论的Myard环形组网机构运动学分析[J]. 机械工程学报, 2020, 56(19): 132-142.
[4]	田耀斌;郭一竹;刘长焕;姚燕安. 单自由度概率翻转移动连杆机构[J]. , 2011, 47(3): 14-20.
[5]	廖启征;李端玲. 平面图形放缩机构[J]. , 2005, 41(8): 140-143.