“机械原理”课程设计中折纸机械手设计与分析  

Design and Analysis of Origami Manipulator in Course Design for Mechanical Theory

作　　者：杨慧[1] 郝亮亮 刘永斌[1] 汪祥 YANG Hui;HAO Liangliang;LIU Yongbin;WANG Xiang(College of Electrical Engineering and Automation, Anhui University, Hefei 230601)

机构地区：[1]安徽大学电气工程与自动化学院,安徽合肥230601

出　　处：《常州工学院学报》2022年第1期84-88,共5页Journal of Changzhou Institute of Technology

基　　金：安徽省质量工程项目(2020kfkc048);国家自然科学基金项目(51975001)。

摘　　要：为了拓展学生应用新理论设计机构的能力,在机械原理课程中设计了一种折纸式三指机械手,先对基本折痕和单根手指分别进行几何分析,利用Visio绘制三指机械手折痕示意图;再采用DH坐标法进行运动学分析,采用MATLAB对其操作空间进行了数值仿真。通过该教学案例,不仅使学生获得机构学理论新知识,而且使学生熟练掌握了2种软件,提高了学生分析问题和解决问题的能力。In order to expand students’ application of new theories in mechanism design, an origami three-finger manipulator is designed in the course of mechanical theory. Firstly, the basic crease and single finger are analyzed geometrically, and Visio is used to plot the crease diagram of the three manipulators. Then, the kinematic analysis is completed by the DH coordinate method, and the operation space is numerically simulated by Matlab. Through the teaching case, the students not only acquire the new theoretical knowledge of mechanism, but also skillfully master two kinds of software, which thus improves undergraduates’ ability to analyze and solve problems.

关 键 词：机械原理课程 教学设计 折纸机器人 

分 类 号：G642[文化科学—高等教育学] TH111[文化科学—教育学]