中国机械工程2018，Vol.29Issue(11)：1303-1309,1315,8.DOI:10.3969/j.issn.1004-132X.2018.11.008
精确直线可展机构及其动力学分析
Accurate Straight-line Deployable Mechanism and Its Dynamics Analysis
摘要
Abstract
Combining Hart straight-line mechanism with scissors mechanism,a new type straight-line deployable unit was proposed which consisted of revolute joint only. Then an accurate straight-line deployable mechanism was designed. According to the mechanism and machine theory, modular principles of the deployable mechanism were explained and the mechanism was composed with three kinds of modules including bottom module,middle module and top module. These modules were all composed by the straight-line deployable units. The kinematics model of a single straight-line deployable unit was established. Combining the modular principles of the mechanism,the recurrent relations of any module kinematics were derived which might be used to solve the whole kinematics model of the accurate straight-line deployable mechanisms consisted of multi-layer modules. The whole dynamics model of the mechanism was presented by Lagrange method based on the whole kinematics model. Taking mechanism consisted of three-layer modules as an example,the dynamics numerical calculation and virtual simulation were carried out,and the correctness and effectiveness of the kinematics and dynamics equations were verified. On the basis of geometric and physical parameters of real mechanism, required driving torque may be obtained when the motion of end-effector was given. The results show that there is no impacts during the whole working cycles by setting sine acceleration movement for end-effectors.关键词
直线机构/可展机构/动力学建模/驱动力矩Key words
straight-line mechanism/deployable mechanism/dynamics modeling/driving torque分类
机械制造引用本文复制引用
畅博彦,李文启,金国光,宋艳艳..精确直线可展机构及其动力学分析[J].中国机械工程,2018,29(11):1303-1309,1315,8.基金项目
国家自然科学基金资助项目(51275352,51475330) （51275352,51475330）
天津市自然科学基金资助项目(17JCQNJC04300,17JCQNJC03900) （17JCQNJC04300,17JCQNJC03900）
