通过系统探索 R 关节轴的布局,扩展平面对称 6R 可展开多边形机构系列

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL
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引用次数: 0

摘要

本文研究了参数变化对平面对称布里卡德机构的可展开运动特性、移动性、输入奇异性和展开/折叠性能的影响。首先,回顾了用于构建可展开多边形机构(DGM)的两类旋翼对轴,并进一步细化了它们的取值范围。其次,首次提出了平面对称 6R DGM 的所有可能的轴布置方案。然后,提出了一种改进的方案合成方法,该方法可用于设计属于平面对称布里卡德机构的所有平面对称 6R DGM。第三,应用改进的设计方法创建一系列单自由度平面对称 6R DGM。然后,进行了可行域搜索,并对其中一些进行了原型设计。随后,分析了平面对称 6R DGM 的输入奇异性。最后,根据实际应用场景,提出了两个展开/折叠性能指标,以评估不同完全展开和完全折叠状态的平面对称 6R DGM 的性能。这项工作拓展了 DGM 的种类和数量,也将推动机器人、机械超材料和叽里咕噜机制的发展。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Expanding the family of plane-symmetric 6R deployable polygon mechanisms by systematically exploring the layout of R-joint axes

In this paper, the impact of parameter variations on the deployable motion characteristics, mobility, input singularity, and deploying/folding performance of plane-symmetric Bricard mechanisms is studied. Firstly, two classes of revolute pair axes used to construct deployable polygon mechanisms (DGMs) are reviewed, and their value ranges are further refined. Secondly, all possible axes arrangement schemes for plane-symmetric 6R DGMs are presented for the first time. Then, an improved schematic synthesis method is proposed, which can be used to design all plane-symmetric 6R DGMs that belong to the plane-symmetric Bricard mechanisms. Thirdly, the improved design method is applied to create a series of single-degree-of-freedom plane-symmetric 6R DGMs. Then, feasible domain searches are performed, and some of them are prototyped. Subsequently, the input singularity of plane-symmetric 6R DGMs is analyzed. Finally, two deploying/folding performance indices are proposed to evaluate the performance of plane-symmetric 6R DGMs with different fully deployed and fully folded states based on actual application scenarios. This work expands the variety and quantity of DGMs, which will also advance the development of robotics, mechanical metamaterials, and kirigami mechanisms.

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来源期刊
Mechanism and Machine Theory
Mechanism and Machine Theory 工程技术-工程:机械
CiteScore
9.90
自引率
23.10%
发文量
450
审稿时长
20 days
期刊介绍: Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry
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