工程设计学报2025，Vol.32Issue(2)：191-198,8.
空间并联多稳态机构的设计与分析
Design and analysis of spatial parallel multi-stable mechanism
摘要
Abstract
Spatial parallel multi-stable mechanism(SPMM)is a mechanism that can switch to different stable equilibrium states under external forces.It is a combination of traditional spatial rigid parallel mechanisms and compliant mechanisms,which is more stable and can save energy.The 6-DOF 3-PSPS SPMM with eight kinds of steady-state configurations was innovatively designed by using the rigid body substitution method.By moving three branches,eight kinds of steady-state configurations of the mechanism could be switched.Firstly,the SPMM structure was analyzed,the mechanism statics analysis was carried out,the energy-kinematic differential equation was established to determine the steady-state of the mechanism,and the energy diagram of the mechanism's motion process was obtained by MATLAB software.Secondly,using the energy method based on Lagrange-Dirichlet principle,eight steady-state configurations of the mechanism were determined,and the switching paths between the steady-state configurations were analyzed.Finally,the 3D printed SPMM model was used for experimental verification.The SPMM can realize steady-state configuration control and can be widely used in the design of motion platform and buffer mechanism.关键词
柔顺机构/空间并联多稳态机构/稳态/能量-运动学微分方程方程Key words
flexible mechanism/spatial parallel multi-stable mechanism/steady-state/energy-kinematic differential equation分类
机械工程引用本文复制引用
李保坤,李琳,赵伟,陶珍钰..空间并联多稳态机构的设计与分析[J].工程设计学报,2025,32(2):191-198,8.基金项目
国家自然科学基金资助项目(U21A20122) （U21A20122）
广西制造系统与先进制造技术重点实验室开放基金资助项目(23354S013) （23354S013）
安徽理工大学专项培育项目(YZ2023H2A003) （YZ2023H2A003）
