基于给定工作空间的球面变胞仿生关节机构优化设计  

Optimum Design of Spherical Metamorphic Mechanism Used for Bionic Joint Based on Prescribed Workspace

作　　者：金国光[1] 王艳[1] 宋轶民[2] 畅博彦[1] 梁栋[2] 

机构地区：[1]天津工业大学天津市现代机电装备技术重点实验室,天津300387 [2]天津大学机械工程学院,天津300072

出　　处：《农业机械学报》2013年第12期288-293,320,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(50675154;51275352);天津市应用基础及前沿技术研究计划资助项目(09JCYBJC04600)

摘　　要：研究一种由静平台、动平台、3个环形支链和1个中间变胞支链组成的新型球面变胞仿生关节机构,该机构具有2个构态,即构态1(正常构态)和构态2(变胞构态)。通过中间支链的结构变换,可以实现构态切换。首先运用矢量代数法,建立机构运动学逆解模型,得到其速度映射模型和雅可比矩阵。其次,在逆解模型的基础上,研究机构工作空间与机构尺寸关系,根据分布规律对工作空间大小进行优化,确定预设工作空间。最后,根据承载力和刚度性能评价指标对给定工作空间下的机构进行尺寸优化设计,分别给出每种性能指标较好的尺寸范围,综合两种指标,得到机构最佳设计尺寸。A novel bionic joint spherical metamorphic mechanism was analyzed. It consisted of a base platform, moving platform, three circle legs and one middle metamorphic leg had two configurations named configuration 1 （normal configuration） and configuration 2 （metamorphic configuration）. The metamorphic mechanism can transform normal configuration to metamorphic configuration with the change of middle leg. Firstly, kinematic equation was established, and the solutions to inverse kinematic and velocity Jacobian matrix were given. Then the relationship between workspace and links length was discussed based on inverse kinematic solutions. According to regular pattern, the workspace of the mechanism was optimized and the default workspace was determined. Finally, the optimization of links length was given based on the evaluation of payload capacity index and stiffness index for a prescribed workspace. The size ranges of links were respectively obtained when each performance index at a better level. The best design size of the mechanism was obtained based on the comprehensive two indexes.

关 键 词：变胞机构 工作空间 承载力 刚度 仿生关节优化 

分 类 号：TH112[机械工程—机械设计及理论]