剪叉弯曲折展变胞机构的设计与分析  

Design and Analysis of a Scissor-bending Deployable and Foldable Mechanism

作　　者：徐坤[1] 乔安伟 丁希仑[1] XU Kun;QIAO Anwei;DING Xilun(Robotics Institute,Beihang University,Beijing 100191)

机构地区：[1]北京航空航天大学机器人研究所,北京100191

出　　处：《机械工程学报》2020年第5期55-62,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金重大研究计划重点资助项目(91748201)。

摘　　要：提出了一种基于剪叉机构单元的剪叉弯曲折展变胞机构单元,给出了构造该变胞机构的约束条件。建立了该机构单元运动的数学模型,通过计算分析了该机构的自由度和运动形式。提出了剪叉弯曲折展机构单元在剪叉机构运动和弯曲机构运动状态转变的工程实现方法,并通过计算分析得到了实现该方法所需的杆长约束条件和角度初始条件。提出了控制机构单元弯曲曲率的方法,通过数值计算得到了限位连杆长度与弯曲曲率的定量关系。该机构单元可以串联组合用于大尺寸物体的抓取。建立了单个机构单元以及两个机构单元组合的三维模型,进行了运动仿真模拟,验证了设计的可行性。A scissor-bending deployable and foldable metamorphic mechanism unit(SBDFMMU) based on the scissors mechanism is proposed, and the general constraints for constructing SBDFMMUs are given. The mathematical model of the movement of the mechanism unit is established, and degrees of freedom(DOFs) and the movement form of the mechanism is analyzed and calculated. The method of realizing the transformation of the SBDFMMU in the scissors mechanism motion and bending mechanism motion state is proposed. The calculation of the linkage length constraint condition and the angle initial condition required to realize the method are given by calculation and analysis. A method for controlling the bending curvature of the mechanism unit is proposed. The quantitative relationship between the limit linkage length and the bending curvature is obtained by numerical calculation. The mechanism units can be combined in series for the capture of large objects. Three-dimensional models of a single mechanism unit and a combination of two mechanism units are established, and motion simulations are performed to verify the feasibility of the design.

关 键 词：折展机构 变胞机构 剪叉机构 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]