平面二维移动可展机构动力学分析  

Dynamic Analysis of Planar Two-dimensional Movable Deployable Mechanism

作　　者：张转 畅博彦[1,2] 李晓宁 杨帅 ZHANG Zhuan;CHANG Boyan;LI Xiaoning;YANG Shuai(Department of Mechanical Engineering,Tianjin Polytechnic University,Tianjin 300387,China;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tianjin Polytechnic University,Tianjin 300387,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]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

出　　处：《机械设计与研究》2019年第5期50-55,共6页Machine Design And Research

基　　金：国家自然科学基金(51475330);天津市自然科学基金(17JCQNJC03900)资助项目;天津市教委科研计划(2018KJ205);天津市高等学校创新团队培养计划(TD13-5037)资助项目

摘　　要：提出一种新的仅含转动副的平面二维移动可展单元,经模块化组合与扩展后,构造出一种平面二维移动可展机构,该机构的执行构件可实现工作平面内的二维移动。在简述机构结构原理的基础上,分别对机构的运动学、动力学进行分析;最后,以三层平面二维移动可展机构为例,对其进行动力学数值计算和虚拟仿真,验证所建运动学和动力学模型的正确性和有效性。仿真结果表明:牛顿欧拉方法可对构件数量庞大但通过模块化叠加而形成的可展机构进行动力学建模,在求解机构运动或所需驱动力的基础上,还可求解得到全部运动副处的约束反力,从而提高其在移动可展机构中应用的可行性。A new planar two dimensional movable-and-deployable unit(MDU) which consists of revolute joint only was proposed and corresponding deployable mechanism was designed after modular combination. Based on the principle of mechanism structure,respectively,the kinematics and dynamics of the mechanism are optimized. Finally, taking mechanism consisted with three-layer modules as an example, the dynamics numerical calculation and virtual simulation were carried out, and meanwhile the correctness and effectiveness of kinematic and dynamic models were verified. Finally, taking mechanism consisted with three-layer modules as an example, the dynamics numerical calculation and virtual simulation were carried out, and meanwhile the correctness and effectiveness of kinematic and dynamic models were verified. Furthermore, the simulation results illustrate that Newton-Euler method is suitable for the dynamic modeling of the deployable mechanisms which are consisted of huge number of components with modularization, and the feasibility of the mechanism applied in the mobile deployable mechanism is improved.

关 键 词：可展机构 剪叉机构 动力学建模 约束反力 

分 类 号：TH112.1[机械工程—机械设计及理论]