面向作业任务的约束变胞机构设计方法

doi:10.3901/JME.2018.03.026

机械工程学报 ›› 2018, Vol. 54 ›› Issue (3): 26-35.doi: 10.3901/JME.2018.03.026

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面向作业任务的约束变胞机构设计方法

李树军^1,2,3, 王洪光², 李小彭^1,2, 杨贺绪³, 戴建生⁴

1. 东北大学机械工程与自动化学院沈阳 110819;
2. 中国科学院机器人学国家重点实验室沈阳 110016;
3. 宁夏理工学院机械工程学院石嘴山 753000;
4. 伦敦大学国王学院伦敦 WC2R 2LS 英国

收稿日期:2016-11-30 修回日期:2017-09-29 出版日期:2018-02-05 发布日期:2018-02-05
通讯作者: 李小彭(通信作者),男,1976年出生,教授,博士研究生导师。主要研究方向为机械动力学、振动摩擦耦合动力学。E-mail:xpli@me.neu.edu.cn
作者简介:李树军,男,1955年出生,教授。主要研究方向为机构学、机械设计理论与方法、机器人机构学。E-mail:shjunli@mail.neu.edu.cn;王洪光,男,1965年出生,研究员。主要研究方向为机器人机构的分析与综合,串联和并联操作手动力学,模块化可重构机器人和自治移动机器人。E-mail:hgwang@sia.cn
基金资助:
国家自然科学基金（51575091，51535008）、机器人学国家重点实验室开放基金（2015-O04）资助项目。

Task-orientated Design Method of Practical Constraint Metamorphic Mechanisms

LI Shujun^1,2,3, WANG Hongguang², LI Xiaopeng^1,2, YANG Hexu³, DAI Jiansheng⁴

1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819;
2. State Key Laboratory of Robotics of China, Chinese Academy of Sciences, Shenyang 110016;
3. School of Mechanical Engineering, Ningxia Institute of Science and Technology, Shizuishan 753000;
4. King's College, University of London, Strand London WC2R 2LS, UK

Received:2016-11-30 Revised:2017-09-29 Online:2018-02-05 Published:2018-02-05

摘要/Abstract

摘要： 如何根据作业任务需求设计约束变胞机构的构型，特别是包含变胞运动副的类型与约束方式的变胞机构，是变胞机构在实际应用中有待解决的关键问题之一。将作业任务分解为子任务，获取对应的变胞构态及其输出运动形式，进而获得对应的变胞运动副的类型及约束周期，构成了基于任务的变胞机构的输出运动与约束组合循环图。根据变胞运动副的类型和邻接关系，归纳出扩展Assur杆组可以提供的输出运动形式，建立了扩展Assur杆组与变胞机构的运动形式与约束组合的关联，因而可以便捷设计出变胞源机构。通过研究变胞机构的组合变胞循环图与变胞机构的等效阻力梯度变化的对应关系，求得约束变胞运动副的约束形式和结构，代入变胞源机构即可得到对应带有变胞运动副约束形式的全部变胞机构；同时进一步考虑工艺条件及运动的可靠性等因素，从中选取适合作业要求的变胞机构。以设计实例演示和验证了提出的设计理论和设计方法的可行性和实用性。

关键词: 变胞副形式, 等效阻力, 任务-运动映射, 约束变胞机构, 约束循环图

Abstract: How to design constraint metamorphic mechanisms according to the requirements of tasks, especially involved with the types of metamorphic kinematic pairs and the ways of constraints, is one of the key issues to be urgently solved during the practical application of metamorphic mechanisms. With the decomposition of the tasks, the corresponding configurations and movement output forms of metamorphic mechanisms are mapped, and as well as the types and constraint period of metamorphic kinematic pairs are achieved. Based on it, a task-based metamorphic mechanisms diagram concerned with the output motions and the constraints is presented. Subsequently, according to the types of metamorphic kinematic pairs as well as their adjacent relations, the movement output forms generated by the augmented Assur groups are summarized. Further, the relationships between the movement forms and constraint combinations of metamorphic mechanisms and the augmented Assur groups are established, which results in a convenient design of source metamorphic mechanisms. Followed by it, the constraint forms and structures of metamorphic kinematic pairs in the constraint metamorphic mechanisms is solved by studying the relationship between the task-based metamorphic mechanisms diagram and the gradien variation of equivalent resistance in the metamorphic mechanisms, which is further applied to the source metamorphic mechanisms so as to achieve whole metamorphic mechanisms with constraint forms of metamorphic kinematic pairs. Then, considering the influences such as process conditions and movement reliability, the metamorphic mechanisms meeting the requirments of the tasks is choosed from them. In the end, the feasibility and effectiveness of the proposed theory and method are demonstrated and verified.

Key words: combined cyclogram, constraint metamorphic mechanisms, equivalent resistance, forms of metamorphic joint, task-motion mapping

中图分类号:

TH112

李树军, 王洪光, 李小彭, 杨贺绪, 戴建生. 面向作业任务的约束变胞机构设计方法[J]. 机械工程学报, 2018, 54(3): 26-35.

LI Shujun, WANG Hongguang, LI Xiaopeng, YANG Hexu, DAI Jiansheng. Task-orientated Design Method of Practical Constraint Metamorphic Mechanisms[J]. Journal of Mechanical Engineering, 2018, 54(3): 26-35.

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面向作业任务的约束变胞机构设计方法

Task-orientated Design Method of Practical Constraint Metamorphic Mechanisms

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