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基于給定工作空間的球面變胞仿生關(guān)節(jié)機(jī)構(gòu)優(yōu)化設(shè)計
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國家自然科學(xué)基金資助項目（50675154、51275352）和天津市應(yīng)用基礎(chǔ)及前沿技術(shù)研究計劃資助項目（09JCYBJC04600)


Optimum Design of Spherical Metamorphic Mechanism Used for Bionic Joint Based on Prescribed Workspace
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    摘要:

    研究一種由靜平臺、動平臺、3個環(huán)形支鏈和1個中間變胞支鏈組成的新型球面變胞仿生關(guān)節(jié)機(jī)構(gòu),，該機(jī)構(gòu)具有2個構(gòu)態(tài),，即構(gòu)態(tài)1(正常構(gòu)態(tài))和構(gòu)態(tài)2(變胞構(gòu)態(tài)),。通過中間支鏈的結(jié)構(gòu)變換,，可以實現(xiàn)構(gòu)態(tài)切換,。首先運(yùn)用矢量代數(shù)法,，建立機(jī)構(gòu)運(yùn)動學(xué)逆解模型,，得到其速度映射模型和雅可比矩陣。其次,，在逆解模型的基礎(chǔ)上,，研究機(jī)構(gòu)工作空間與機(jī)構(gòu)尺寸關(guān)系，根據(jù)分布規(guī)律對工作空間大小進(jìn)行優(yōu)化,，確定預(yù)設(shè)工作空間,。最后，根據(jù)承載力和剛度性能評價指標(biāo)對給定工作空間下的機(jī)構(gòu)進(jìn)行尺寸優(yōu)化設(shè)計,，分別給出每種性能指標(biāo)較好的尺寸范圍,，綜合兩種指標(biāo)，得到機(jī)構(gòu)最佳設(shè)計尺寸,。

    Abstract:

    A novel bionic joint spherical metamorphic mechanism was analyzed. It consisted of a base platform, moving platform, three circle legs and one middle metamorphic leg had two configurations named configuration 1 (normal configuration) and configuration 2 (metamorphic configuration). The metamorphic mechanism can transform normal configuration to metamorphic configuration with the change of middle leg. Firstly, kinematic equation was established, and the solutions to inverse kinematic and velocity Jacobian matrix were given. Then the relationship between workspace and links length was discussed based on inverse kinematic solutions. According to regular pattern, the workspace of the mechanism was optimized and the default workspace was determined. Finally, the optimization of links length was given based on the evaluation of payload capacity index and stiffness index for a prescribed workspace. The size ranges of links were respectively obtained when each performance index at a better level. The best design size of the mechanism was obtained based on the comprehensive two indexes.

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金國光,王艷,宋軼民,暢博彥,梁棟.基于給定工作空間的球面變胞仿生關(guān)節(jié)機(jī)構(gòu)優(yōu)化設(shè)計[J].農(nóng)業(yè)機(jī)械學(xué)報,2013,44(12):288-293,320. Jin Guoguang,Wang Yan,Song Yimin, Chang Boyan, Liang Dong. Optimum Design of Spherical Metamorphic Mechanism Used for Bionic Joint Based on Prescribed Workspace[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):288-293,320.

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  • 在線發(fā)布日期: 2013-12-05
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