新型剪叉折展机构的运动性能  

Study on Kinematic Performance of a Novel Scissor Deployable Mechanism

作　　者：王汝贵[1] 张祎 陈培民 许继川 WANG Rugui;ZHANG Yi;CHEN Peimin;XU Jichuan(College of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,南宁530004

出　　处：《机械设计与研究》2023年第1期42-47,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(51865001)。

摘　　要：基于一种由可控制横向偏移的剪叉机构单元组成的偏移折展机构单元,设计了能使偏移折展机构单元串联的嵌套结构铰链和对控制每一节单元之间角度偏转的连接机构,建立了四节偏移折展机构单元及三个连接机构组合的三维模型,并给出其三种构态。分析了偏移折展机构单元的运动情况,基于偏移折展机构单元的雅可比矩阵,分析了位置奇异及串联后整体机构的速度雅可比矩阵,并由机构的展开长度及角度分析了可操作度的变化情况。最后,对偏移折展机构的实际工程应用进行了研究。Based on an offset deployable mechanism unit composed of a controllable lateral offset scissors mechanism unit,a nested structural hinge that can make the offset deployable mechanism unit series and a connecting mechanism that can control the angle deflection between each unit,are designed.A three-dimensional model of four offset deployable mechanism units and the combination of three connecting mechanisms is established,and three configurations are given.The motion of the offset deployable mechanism unit is analyzed.Based on the Jacobian matrix of the offset deployable mechanism unit,the Jacobian matrix of the position singularity and the velocity of the entire mechanism after series connection are analyzed,and the operability is analyzed by the expansion length and angle of the mechanism.The practical engineering application of the mechanism is also studied.

关 键 词：折展机构 剪叉机构 运动学分析 奇异性分析 可操作度分析 

分 类 号：TH122[机械工程—机械设计及理论]