摘要
将筝形直线机构与剪叉机构结合,提出一种仅含转动副的筝形直线可展单元,并设计得到一种筝形直线可展机构。根据机构结构学分析理论,阐述了筝形直线可展机构的模块化组成原理,并将其分解为外部模块和中间模块,两种模块均由筝形直线可展单元构成;对单个的筝形直线可展机构进行运动学建模,结合其模块化组成原理,得到相邻模块间的运动学递推关系,并以此为基础,运用Lagrange方法建立筝形直线可展机构整体动力学模型;以6层可展机构为例,对其进行动力学数值计算和虚拟仿真,通过设置末端执行器的输出运动规律,求解得到机构所需的驱动力矩,验证所建运动学和动力学模型的正确性和有效性。研究结果表明:当末端执行器的输出运动规律为正弦加速度曲线时,机构在整个运动过程中稳定性好,无冲击影响。
Based on the combination of the kite straight-line mechanism and the scissors mechanism,a new kite straight-line deployable unit with revolute joints merely is worked out.Then,the kite straight-line deployable mechanism is developed.According to the theories related to mechanism and structure,the modular principle of the kite straight-line deployable mechanism is illustrated,and the mechanism is divided into external module and internal module,which are both derived from the kite straight-line deployable unit.The kinematic model of a single kite straight-line deployable unit is set up firstly,and the kinematic relationship between the two adjacent modules is identified according to the modular principle.Based on the kinematic analysis,the Lagrange method is adopted to work out the dynamic model of the whole mechanism.With the mechanism featuring sixlayer modules as an example,the tasks of dynamic numerical calculation and virtual simulation are carried out.Based on the motion law of the end-effector,the driving torque is calculated,in order to verify whether the kinematic and dynamic models are correct and effective.The results show that there is no impact throughout the motion when the output-based motion law of the end-effector is mainly embodied as the sine acceleration curve.
作者
杨帅
畅博彦
李晓宁
张转
YANG Shuai;CHANG Bo-yan;LI Xiao-ning;ZHANG Zhuan(School of Mechanical Engineering,Tianjin Polytechnic University,Tianjin 300387;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tianjin 300387)
出处
《机械设计》
CSCD
北大核心
2020年第3期39-46,共8页
Journal of Machine Design
基金
国家自然科学基金资助项目(51475330)
天津市自然科学基金资助项目(17JCQNJC03900)
天津市教委科研计划资助项目(2018KJ205)
天津市高等学校创新团队培养计划资助项目(TD13-5037).
关键词
筝形直线机构
可展机构
动力学建模
驱动力矩
kite straight-line mechanism
deployable mechanism
dynamic modeling
driving torque
