[1]郭金伟,许允斗,郭路瑶,等.一种新型三棱柱可展单元机构及其自由度分析[J].燕山大学学报,2020,44(1):018-24.[doi:10.3969/j.issn.1007-791X.2020.01.003]
 GUO Jinwei,XU Yundou,GUO Luyao,et al.A triangular prism deployable unit mechanism and its DOF analysis[J].Journal of YanShan University,2020,44(1):018-24.[doi:10.3969/j.issn.1007-791X.2020.01.003]
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一种新型三棱柱可展单元机构及其自由度分析
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《燕山大学学报》[ISSN:1007-791X/CN:13-1219/N]

卷:
44
期数:
2020年第1期
页码:
018-24
栏目:
机械工程
出版日期:
2020-01-31

文章信息/Info

Title:
A triangular prism deployable unit mechanism and its DOF analysis
文章编号:
1007-791X(2020)01-0018-07
作者:
郭金伟1许允斗12郭路瑶1姚建涛12赵永生 12*
1.燕山大学 河北省并联机器人与机电系统实验室,河北 秦皇岛 066004;
2.先进锻压成型技术与科学教育部重点实验室(燕山大学),河北 秦皇岛 066004

Author(s):
GUO Jinwei1XU Yundou12GUO Luyao1YAO Jiantao12ZHAO Yongsheng 12
1.Laboratory of Parallel Robot and Mechatronic System of Hebei Province,Yanshan University,Qinhuangdao,Hebei 066004,China;
2.Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University),Ministry of Education of China,Qinhuangdao,Hebei 066004,China

关键词:
三棱柱单元可展机构自由度分析运动仿真分析
Keywords:
triangular prism unit deployable mechanism DOF analysismotion simulation analysis
分类号:
V243.4;TH112
DOI:
10.3969/j.issn.1007-791X.2020.01.003
文献标志码:
A
摘要:
提出一种新型3RRR-3RR-3RRR三棱柱可展单元机构。该三棱柱可展单元机构为空间多闭环耦合机构,首先应用拆杆思想将其分解为一般并联机构,再采用图谱法得到等效串联分支,进而应用复原思想得到最终的等效机构,最后利用GK公式和螺旋理论对该等效机构进行自由度计算和性质分析。其次,建立了三棱柱可展单元机构仿真模型,应用ADAMS运动学仿真软件对其进行运动仿真分析,仿真分析结果验证了三棱柱可展单元机构自由度理论分析的正确性;最后,计算得到该三棱柱可展单元机构的收拢率。该三棱柱可展单元机构结构简单、铰链种类单一,可用于构造大型空间可展机构。本文的分析方法形象直观,易于理解,对于此类复杂空间可展开机构的自由度分析具有一定参考意义。


Abstract:
A 3RRR-3RR-3RRR triangular prism deployable unit mechanism is a spatial multi-closed loop coupling mechanism. Firstly, it is decomposed into a general parallel mechanism using the idea of dismantling, and the equivalent series branch is obtained using the graphical approach. Then the final equivalent mechanism is obtained by applying the recovery idea, and finally the number and property of DOF of the equivalent mechanism are analyzed using the G-K formula and the screw theory. Secondly, the simulation model of the triangular prism deployable unit mechanism is established, and the motion simulation analysis is carried out using ADAMS software. The simulation results verify the correctness of the number and property of DOF of this mechanism. Finally, the folding rate of the triangular prism deployable unit mechanism is obtained. The triangular prism expandable unit mechanism has a simple structure and a single hinge type, and can be used for constructing a large space deployable mechanism. The analysis method of this paper is intuitive and easy to understand. It has certain reference significance for the analysis of the DOF of such complex space deployable mechanisms.

备注/Memo

备注/Memo:
收稿日期:2018-11-05     责任编辑:温茂森
基金项目:国家自然科学基金资助项目(51675458);河北省自然科学基金资助项目(E2017203335);河北省教育厅高等学校科技计划青年拔尖人才资助项目(BJ2017060);河北省研究生创新资助项目(CXZZBS2019050)
作者简介:郭金伟(1991-),女,河北昌黎人,博士研究生,主要研究方向为并联机构学理论及空间可展天线技术;*通信作者:赵永生(1962-),男,吉林龙井人,博士,教授,博士生导师,主要研究方向为并联机构学理论、空间可展开结构及机器人技术,Email:yszhao@ysu.edu.cn。

更新日期/Last Update: 2020-03-20