可折叠双三角锥滚动机构  

Foldable Triangular Bipyramid Rolling Mechanism

作　　者：李晔卓[1] 田耀斌[1] 姚燕安[1] 

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《机械工程学报》2014年第11期68-79,共12页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51175030);中央高校基本科研业务费专项资金(2012JBZ002);教育部支撑技术(625010403);高等学校博士学科点专项科研基金(20130009110030)资助项目

摘　　要：提出一种新概念的滚动机构,可通过折叠机构的变形,在展开状态下的双三角锥和折叠状态下的椭球体两种外部形态之间进行转换,并相应具有两种滚动模式。在双三角锥形态下,机构通过外形的变化实现滚动,并以偏心质量块驱动方式进行转向的控制;在椭球体形态下,机构运用偏心质量块驱动方式进行直线方向上的滚动。在机构设计上,折叠机构通过1个自由度实现了移动功能的同时减少了存放时所需的空间。通过自由度分析,机构需要三个驱动电动机来实现其所具有的功能。以运动学计算为基础分析双三角锥形态下的翻滚条件并规划滚动步态。建立仿真模型,验证该机构能够完成折叠/展开的动作,并能够按照步态规划进行滚动。制作一台样机,对其进行折叠/展开方式与滚动功能的可行性验证,实现了预期的结果。A new kind of rolling mechanism is proposed.This mechanism is able to deform between triangular bipyramid and spheroid with two corresponding mobile modes.When it is a triangular bipyramid,rolling function can be realized by transformation and the eccentric block controls direction switching.It can be folded into a spheroid which driven by a eccentric block.Folding mechanism is used to realize the motion function and decrease the storage space by single degree of freedom.It is proved that there are three freedoms by analysing the structure.Rolling gait is confirmed by kinematics analysis.The results of the simulated model show that the rolling mechanism can transform between the two modes and pass the prospective path.A prototype is manufactured to test the feasibility of deforming method and rolling function,and the theory is proved by its performance..

关 键 词：折叠机构 双三角锥 滚动机构 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]