一种新型球面变胞铰链的设计与实现  

Design and implementation of a novel hinge for spherical metamorphic mechanisms

作　　者：张建斌[1] 陈伟海[1] 权俊杰[1] 李端玲[2] 

机构地区：[1]北京航空航天大学机械工程与自动化学院,北京100083 [2]北京邮电大学自动化学院,北京100876

出　　处：《高技术通讯》2008年第7期703-708,共6页Chinese High Technology Letters

基　　金：国家自然科学基金(60775059、50705010);863计划(2006AA04Z218)资助项目

摘　　要：针对传统球铰链存在的'一个铰链只能同时连接两个杆件进行运动'的固有缺陷,提出了一种新型的球面变胞铰链(HSMM)的设计。该铰链是被动关节,其主要组成部分是一偏置平行四边形机构与一对组合门铰,它可以同时连接多个杆件,并使这些杆件作球面运动,从而能增大旋转中心附近的关节空间,有利于作业任务的完成。在这种铰链的结构设计基础上,对由该铰链组成的球面六杆变胞机构进行了自由度分析,并描述了此铰链在变几何桁架机器人中的应用前景。A design of a novel hinge for spherical metamorphic mechanisms is proposed. The hinge is a passive joint, and the principal contribution of the hinge design is the offset parallelogram mechanism and a door hinge. This kind of hinge mechanism can allow more links to be connected together simultaneously to do spherical motion. This scheme can overcome efficiently the inherent defect of the traditional hinge design where a hinge can only connect two links simultaneously to do the motion. Hence the joint space near the rotation center will be increased, this is beneficial to the implementation of various kinds of tasks. After the structure design of the hinge is described in detail, the paper gives the analysis of the degree of freedom of a spherical 6-link metamorphic mechanism that consists of the hinges, and introduces some typical applications of the hinge in variable geometry truss manipulators.

关 键 词：球面变胞机构 球面变胞铰链 球铰链 被动关节 自由度 

分 类 号：TH132.45[机械工程—机械制造及自动化]