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一种伞式可折叠柔性变胞机构的设计分析研究 预览 被引量:6

Design and Analysis of an Umbrella Foldable Compliant Metamorphic Mechanism
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摘要 柔性变胞机构是一种依靠柔性构件变形实现构态变化的机构,利用柔性机构的某些特性可以综合提高变胞机构的性能和效率。提出一种伞式可折叠柔性变胞机构,该机构综合了变胞机构和柔性机构两大特点。利用伪刚体模型理论对该机构进行拓扑学,运动学及稳态分析。最后,对该机构进行运动学仿真,结果表明伪刚体模型法适合于柔性变胞机构的分析与设计。 Compliant metamorphic mechanism can be defined as mechanism whose configuration can be changed due to the flexibility of its members. Some characters of compliant mechanism can improve the performance and efficiency of metamorphic mechanism. An umbrella foldable compliant mechanism is proposed in this paper. It contains characters of both metamorphic mechanism and compliant mechanism. Based on the pseudorigid-body mode, the analysis is carried out on kinematics, topology and stability of this mechanism. At last, the kinematical simulation is done for this mechanism. The result verifies that the pseudo-rigid-body method is effective for compliant metamorphic mechanism design and analysis.
作者 杨毅 丁希仑 戴建生 YANG Yi , DING Xi-lun , DAI Jian-sheng (1. Robitics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;2. School of Mechanical Engineering, King's College London, University of London, London WCR 2LS, UK )
出处 《航空学报》 EI CAS CSCD 北大核心 2007年第4期 1014-1017,共4页 Acta Aeronautica et Astronautica Sinica
基金 国家自然科学基金(50475001)
关键词 柔性 变胞机构 双稳态 伪刚体 compliant metamorphic mechanism bistable pseudo-rigid-body
作者简介 杨毅(1982-)男,硕士。主要研究方向:柔性机构学、变胞机构学。 丁希仑(1967-)男,教授。主要研究方向:机械动力学、机器人学。通讯作者:丁希仑E-mail:xlding@buaa.edu.cn. 戴建生(1954-)男,英国伦敦大学国王学院机械工程系终身候补教授,北京航空航天大学兼职教授。主要研究方向:机器人学、运动学和机构学。
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