Position: Home > Articles > Analysis of DOF and Kinematic Characteristics of Hexahedral Deployable Mechanism
Transactions of the Chinese Society for Agricultural Machinery
2019
(8)
410-417
六面体可展机构自由度与运动特性分析
作 者：
刘文兰;马鹏飞;闵为;许允斗;郭金伟;赵永生
单 位：
兰州理工大学能源与动力工程学院;燕山大学河北省并联机器人与机电系统实验室
关键词：
六面体机构;自由度;螺旋理论;折叠比;运动学
摘 要：
针对一种空间多环耦合六面体可展机构自由度分析问题,提出了选取动平台、建立等效串联分支、构建等效并联机构,进而基于并联机构自由度分析理论得到六面体机构自由度的分析方法。首先,选取多个构件组成的运动链整体作为动平台,基于螺旋理论建立动平台的所有运动等效串联分支;然后,减少动平台所含构件数,重新建立等效串联分支;最终将原机构等效为动平台仅由1个构件组成的传统并联机构。这样逐渐降低了原六面体机构的耦合度,从而降低了其自由度分析的难度。建立了六面体可展机构的仿真模型,通过施加不同的驱动对六面体机构的运动规律进行了分析,并讨论了该机构的折叠性能。本研究为此六面体机构的力学特性分析奠定了基础,提出的自由度分析方法为其他多面体可展机构自由度分析提供了思路。
译 名：
Analysis of DOF and Kinematic Characteristics of Hexahedral Deployable Mechanism
作 者：
LIU Wenlan;MA Pengfei;MIN Wei;XU Yundou;GUO Jinwei;ZHAO Yongsheng;College of Energy and Power Engineering,Lanzhou University of Technology;Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University;
关键词：
hexahedral mechanism;;degree of freedom;;screw theory;;folding ratio;;kinematics
摘 要：
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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