基于Roberson-Wittenburg方法的变胞机构动力学研究  

Dynamic Research of Metamorphic mechanism based on Roberson-Wittenburg method

作　　者：李端玲[1] 刘瑞雪[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《新型工业化》2013年第12期1-8,共8页The Journal of New Industrialization

基　　金：国家自然科学基金资助项目(51075039);新世纪优秀人才支持计划资助(NCET-12-0796);高等学校博士学科点专项科研基金资助课题(20120005110008);中央高校基本科研业务费(2012LD03);清华大学摩擦学国家重点实验室开放基金资助项目

摘　　要：变胞机构是由英国伦敦大学的戴建生教授与Ree Jones于1998年在亚特兰大召开的ASME第25届机构学双年会上提出的。它是一种新型机构,具有构态变化和自动组合等特点,还具有高度展开、折叠的性质。在不同的构态下变胞机构的有效杆件数目及自由度数也不同,从而具备了更多的功能和特性。本文重点介绍了基于Roberson-Wittenburg法的变胞机构的拓扑描述方法,然后使用Roberson-Wittenburg法对变胞机构的动力学进行分析,建立了该机构任意构态q上的点的位置、速度和加速度数学模型,并给出了一个包装领域的变胞机构动力学分析的实例。结果表明,该法简便有效,易于编程实现。Metamorphic mechanism is held in Atlanta in 1998 by the University of London, UK Using DH Transformation Ree Jones at the 25th ASME first institutions to learn double the annual meeting. Metamorphic mechanism is a highly start folding agency has a configuration state changes and automatic combination, to provide a different number of degrees of freedom in a different state to change the number of agencies to effectively bars the automatic combination of new institutions , to accommodate the need for different functions. In this paper representation methods of topological structures of metamorphic mechanism are introduced, and the Roberson-Wittenberg method is specially introduced.Then, the Roberson-Wittenberg method is used to analyze the dynamic of metamorphic mechanism. And the mathematic models of position, velocity and acceleration of any point belongs to the configuration are established. An example to verify the method is given.The method has the advantages of calculation simplicity, and easy programming.

关 键 词：变胞机构 Roberson-Wittenburg方法 动力学分析 

分 类 号：TH112[机械工程—机械设计及理论]