一种伞式可折叠柔性变胞机构的设计分析研究  

Design and Analysis of an Umbrella Foldable Compliant Metamorphic Mechanism

作　　者：杨毅[1] 丁希仑[1] 戴建生[2] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083 [2]伦敦大学国王学院机械工程系

出　　处：《航空学报》2007年第4期1014-1017,共4页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(50475001)

摘　　要：柔性变胞机构是一种依靠柔性构件变形实现构态变化的机构,利用柔性机构的某些特性可以综合提高变胞机构的性能和效率。提出一种伞式可折叠柔性变胞机构,该机构综合了变胞机构和柔性机构两大特点。利用伪刚体模型理论对该机构进行拓扑学,运动学及稳态分析。最后,对该机构进行运动学仿真,结果表明伪刚体模型法适合于柔性变胞机构的分析与设计。Compliant metamorphic mechanism can be defined as mechanism whose configuration can be changed due to the flexibility of its members. Some characters of compliant mechanism can improve the performance and efficiency of metamorphic mechanism. An umbrella foldable compliant mechanism is proposed in this paper. It contains characters of both metamorphic mechanism and compliant mechanism. Based on the pseudorigid-body mode, the analysis is carried out on kinematics, topology and stability of this mechanism. At last, the kinematical simulation is done for this mechanism. The result verifies that the pseudo-rigid-body method is effective for compliant metamorphic mechanism design and analysis.

关 键 词：柔性 变胞机构 双稳态 伪刚体 

分 类 号：TH112[机械工程—机械设计及理论]