机械工程学报 >

2018 , Vol. 54 >Issue 5: 62 - 73

DOI: https://doi.org/10.3901/JME.2018.05.062

机构学及机器人

一种单自由度对称可展耦合机构的设计

  • 高慧芳 ,
  • 刘婧芳 ,
  • 余跃庆
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  • 北京工业大学机械工程与应用电子技术学院 北京 100124
高慧芳,女,1988年出生,博士研究生。主要研究方向为机构学理论和方法设计。E-mail:gaohuifang369@126.com;余跃庆,男,1958年出生,教授,博士研究生导师。主要研究方向为机构及机器人动力学。E-mail:yqyu@bjut.edu.cn

收稿日期: 2016-09-27

  修回日期: 2017-02-27

  网络出版日期: 2018-03-05

基金资助

国家自然科学基金资助项目（51475015）。

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Design of a 1-DOF Symmetrical Deployable Coupled Mechanism

  • GAO Huifang ,
  • LIU Jingfang ,
  • YU Yueqing
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  • College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124

Received date: 2016-09-27

  Revised date: 2017-02-27

  Online published: 2018-03-05

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摘要

基于正十二面体结构的特殊性和对称性，提出一种具有一个移动自由度的对称可展耦合机构。针对正十二面体包含的几何要素及空间布局，建立耦合框架结构，定义对应的构件类型并确定支链组成，根据各构件的连接情况设计3种类型替代构件，按照耦合框架结构用转动运动副（R副）将替代构件顺次连接，构建出机构基础模型。分析基本单元环的内部约束，在确定其具有可动性的基础上对机构基础模型的自由度及输出运动性质进行分析，设计出期望的对称耦合机构。建立耦合机构的三维实体模型，设置不同的驱动条件，通过Matlab获得节点构件和末端件的位移变化曲线，得到的结果与理论分析结果一致，表明提出的新机构是一种具有可展性的单移动自由度对称耦合机构。

关键词： 多环耦合机构; 正十二面体; 替代构件; 可展机构

本文引用格式

高慧芳 , 刘婧芳 , 余跃庆 . 一种单自由度对称可展耦合机构的设计[J]. 机械工程学报, 2018 , 54(5) : 62 -73 . DOI: 10.3901/JME.2018.05.062

Abstract

A symmetrical deployable coupled mechanism with one translational degree of freedom (DOF) is proposed based on the particularity and symmetry of a regular dodecahedron. According to the spatial arrangement of all component geometrical elements in a regular dodecahedron, the construction of coupled framework is established. All component parts can be defined and motion chains can be obtained correspondingly. Three types of substitutive components are designed on the basis of the merging condition of above defined parts in coupled framework. The equivalent geometrical model is spliced with the given substitutive parts just by rotation joints (R). The DOF of the model is calculated and the output motion is analyzed under the condition that the elementary loop corresponding to a regular pentagon in a regular dodecahedron is movable. The expected symmetrical coupled mechanism can be established based on the mobility analysis of the entire model. The three-dimensional SolidWorks model of the coupled mechanism is build. The displacement variations of the end and nodes under different driving conditions are simulated and revealed with time-displacement curves by Matlab. Simulation results show that the novel mechanism is a symmetrical deployable coupled mechanism with one translation DOF.

Key words： coupled mechanism; regular dodecahedron; substitutive component; deployable mechanism

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