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六面體可展機構(gòu)自由度與運動特性分析
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國家自然科學(xué)基金項目(51675458)和河北省自然科學(xué)基金重點項目(E2017203335)


Analysis of DOF and Kinematic Characteristics of Hexahedral Deployable Mechanism
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    摘要:

    針對一種空間多環(huán)耦合六面體可展機構(gòu)自由度分析問題,,提出了選取動平臺,、建立等效串聯(lián)分支,、構(gòu)建等效并聯(lián)機構(gòu),,進而基于并聯(lián)機構(gòu)自由度分析理論得到六面體機構(gòu)自由度的分析方法,。首先,,選取多個構(gòu)件組成的運動鏈整體作為動平臺,,基于螺旋理論建立動平臺的所有運動等效串聯(lián)分支,;然后,,減少動平臺所含構(gòu)件數(shù),,重新建立等效串聯(lián)分支;最終將原機構(gòu)等效為動平臺僅由1個構(gòu)件組成的傳統(tǒng)并聯(lián)機構(gòu),。這樣逐漸降低了原六面體機構(gòu)的耦合度,,從而降低了其自由度分析的難度。建立了六面體可展機構(gòu)的仿真模型,,通過施加不同的驅(qū)動對六面體機構(gòu)的運動規(guī)律進行了分析,,并討論了該機構(gòu)的折疊性能。本研究為此六面體機構(gòu)的力學(xué)特性分析奠定了基礎(chǔ),,提出的自由度分析方法為其他多面體可展機構(gòu)自由度分析提供了思路,。

    Abstract:

    The theory of degree of freedom (DOF) analysis for multiloop coupling mechanisms is not yet mature at present. Aiming at the DOF analysis of a spatial multiloop coupling hexahedron deployable mechanism, a method was presented based on the idea of selecting a hypothetical moving platform, establishing the equivalent series supporting limbs, constructing the equivalent parallel mechanism (PM), and then analyzing the DOF of the equivalent PM to obtain the original hexahedron mechanism. One of kinematic chains composed of more than one link was selected as the moving platform at first, and all kinematic equivalent series supporting limbs of the moving platform were established based on the screw theory. Then the number of links contained in the moving platform was reduced continuously, and the equivalent series limbs were reestablished. The original hexahedron mechanism was eventually equivalent to a traditional PM whose moving platform consisted of just one link. The number and properties of the DOF of the multiloop coupling hexahedron mechanism were obtained by analyzing its equivalent PM. The coupling degree of the hexahedron mechanism was reduced by the proposed method, so that the difficulty of DOF analysis of the original multiloop coupling mechanism was reduced. In addition, the simulation model of the hexahedral mechanism was built, and the kinematic characteristics of the mechanism were studied by giving different actuations. Furthermore, the folding performance of the mechanism was discussed. The research results of DOF and kinematic characteristics laid a foundation for the force analysis of the hexahedron mechanism, and the proposed method provided a way for the DOF analysis of other types of polyhedron mechanisms.

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劉文蘭,馬鵬飛,閔為,許允斗,郭金偉,趙永生.六面體可展機構(gòu)自由度與運動特性分析[J].農(nóng)業(yè)機械學(xué)報,2019,50(8):410-417. LIU Wenlan, MA Pengfei, MIN Wei, XU Yundou, GUO Jinwei, ZHAO Yongsheng. Analysis of DOF and Kinematic Characteristics of Hexahedral Deployable Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2019,50(8):410-417.

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  • 收稿日期:2019-01-03
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  • 在線發(fā)布日期: 2019-08-10
  • 出版日期: 2019-08-10
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