一种单自由度展开机构的设计与运动学分析  

Design and Kinematic Analyses of A Single Degree of Freedom Deployable Mechanism

作　　者：陈正涛[1] 王皓[1,2] 赵勇[1] 余海东[1] 来新民[1,2] 

机构地区：[1]上海交通大学上海市复杂薄板结构数字化制造重点实验室,上海200240 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《机械设计与研究》2016年第5期14-17,30,共5页Machine Design And Research

基　　金：国家自然科学基金(11472172);973计划(2014CB046600)资助项目

摘　　要：设计了一种新型的展开机构,该机构具有单自由度、大折展比、能够展开成特定几何形状的特性,可以用于薄壁筒体构件在焊接过程中的内部支撑等场合。采用修正的G-K公式对展开机构的自由度进行了计算与分析,证明所设计机构具有单个自由度,便于添加驱动控制。采用矢量法建立了展开机构的运动学分析模型,通过算例分析,说明所设计机构尺寸参数的合理性。最终,制作了展开机构的实物样机,作为对机构构型与尺寸参数的进一步验证。This paper presents a new kind of deployable mechanism. The designed mechanism can be used as an inner support structure during the welding process of thin-walled cylindrical structure as it has the properties of single degree of freedom, large unfolding ratio, and can expand to a required structure. The modified G-K formula was used to calculate and analyze the freedom of this mechanism. As a consequence, the designed mechanism has single degree of freedom, which shows it is easy to control. Subsequently, a kinematic analysis model is built by using vector method. The rationality of mechanism＇s design of size parameters is presented by calculation and analysis of the kinematic model. Finally, a physical prototype is made as further validation.

关 键 词：展开机构 运动学分析 过约束 自由度 

分 类 号：TH112[机械工程—机械设计及理论]