平行四边形变胞移动机构的构态变换随机性分析  

Randomness analysis on configuration switch of parallelogram metamorphic shifting mechanism

作　　者：高建卓 李小彭[2] 李树军[2] GAO Jianzhuo;LI Xiaopeng;LI Shujun(Beijing Institute of Metrology,Beijing 100029,China;School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,Liaoning,China)

机构地区：[1]北京市计量检测科学研究院,北京100029 [2]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《中国工程机械学报》2023年第3期209-214,共6页Chinese Journal of Construction Machinery

基　　金：国家自然科学基金资助项目(51575091,51875092)。

摘　　要：变胞机构在运动过程中可以实现不同的构态变换。为了研究变胞机构构态变换过程中的随机性影响,建立一种常见的平行四边形变胞移动机构模型。以等效阻力梯度模型为基础,对机构进行动态静力学分析,并最终对其构态变换过程进行研究。分析不同参数变化时,对平行四边形变胞移动机构构态变换过程中的随机性影响,得出转速、杆长、外力、外力矩不同参数变化情况下构态变换过程中产生的随机性影响。结果表明:随着转速、外力、外力矩的增大,使变胞机构构态变换过程中更容易产生随机构态,杆长的影响不明显。研究结果对于未来如何利用和控制具有作业任务的变胞机构中的随机构态起到借鉴作用。Metamorphic mechanism has the characteristics of configuration switch.In order to study the influence of random working configuration in the process of configuration switch of metamorphic mechanism,a common parallelogram metamorphic mechanism is established.Based on the equivalent resistance gradient model,the dynamic and static analysis of the mechanism is carried out,the process of configuration switch is studied.The influence of different parameters on the randomness in the process of configuration switch of parallelogram metamorphic mobile mechanism is analyzed.The randomness influence of different parameters such as rotational speed,rod length,external force and external torque in the process of configuration switch is obtained.The results show that with the increase of rotational speed,external force and external torque,the random configuration is more likely to occur in the process of configuration switch,and the influence of rod length is not obvious.It can be used for reference in how to use and control the random configuration of metamorphic mechanism with task in the future.

关 键 词：变胞机构 构态变换 随机构态 等效阻力梯度 

分 类 号：TH112[机械工程—机械设计及理论]