一类平面对心折展机构的构造方法

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英文篇名：A Method for Constructing Planar Center-coincident Deployable Mechanisms 作者：孙学敏 ; 姚燕安 ; 李锐明 ; 刘然 ; 魏超然 英文作者：SUN Xuemin;YAO Yanan;LI Ruiming;LIU Ran;WEI Chaoran;School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University;Robotics Institute, Beihang University; 关键词：折展机构 ; 对心 ; 广义折弯杆组 ; 约束条件 英文关键词：deployable mechanism;;center-coincident;;generalized angulated elements;;constraint condition 中文刊名：JXXB 英文刊名：Journal of Mechanical Engineering 机构：北京交通大学机械与电子控制工程学院;北京航空航天大学机器人研究所; 出版日期：2019-06-05 出版单位：机械工程学报 年：2019 期：v.55 基金：中国博士后科学基金(2018M631300);; 国家自然科学基金(51505022)资助项目 语种：中文; 页：JXXB201911022 页数：10 CN：11 ISSN：11-2187/TH 分类号：190-199

摘要

通过多个广义折弯杆组构造具有同一缩放中心的折展机构,给出了平面对心折展机构的一般化构造方法。分析了第一类广义折弯杆组(GAE I)和第二类广义折弯杆组(GAE II)的约束条件,对两个广义折弯杆组进行了对心构造,并用几何方法得到了两个广义折弯杆组对心构造条件,给出了两类折弯杆组的运动分析。在此基础上,分析了n个GAE I和n个GAE II组成的对心机构的构造条件,得到具有n个广义折弯杆组的对心折展机构的回环连接方法。通过对GAE I和GAE II折弯杆组的展开与折叠状态的分析,给出了两类折弯杆组的折展比。分别对由6个GAE I和6个GAE II组成的对心折展机构,建立了三维模型,给出了典型的运动状态;制作了两款机构模型,验证了所提出构造方法的可行性。
        Based on multiple generalized angulated elements, a class of deployable mechanisms with the same deployable center is constructed, and the general method of constructing planar center-coincident deployable mechanisms is proposed. The construction conditions of the type I generalized angulated elements(GAE I) and the type II generalized angulated elements(GAE II) are analyzed.The two generalized elements are center-coincident, and the conditions of the center-coincident deployable mechanism are obtained by using the geometric method, the motion of two types of angulated elements is given. On this basis, the circular ring connection conditions of n GAE I and n GAE II are analyzed, and the method of circular ring connection is obtained. By analyzing the unfolding and folding state of the GAE I and GAE II, the folding ratios of the angulated elements are given. For the center-coincident deployable mechanism that consists of 6 GAE I and 6 GAE II, two 3D models are established, and a serial typical motion state are given. Two prototypes are fabricated, which verifies the feasibility of the construction method.

引文

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