航空学报 > 2019, Vol. 40 Issue (4): 422536-422536   doi: 10.7527/S1000-6893.2018.22536

空间对称型7R机构运动特性分析及组合应用

韩博1, 许允斗1,2, 姚建涛1,2, 郑东1, 张硕1, 赵永生1,2   

  1. 1. 燕山大学 河北省并联机器人与机电系统实验室, 秦皇岛 066004;
    2. 燕山大学 先进锻压成型技术与科学教育部重点实验室, 秦皇岛 066004
  • 收稿日期:2018-07-13 修回日期:2018-08-06 出版日期:2019-04-15 发布日期:2018-10-10
  • 通讯作者: 赵永生 E-mail:yszhao@ysu.edu.cn
  • 基金资助:
    国家自然科学基金(51675458);河北省自然科学基金重点项目(E2017203335);河北省高等学校青年拔尖人才计划项目(BJ2017060)

Kinematic characteristics analysis and assembly application of a spatial symmetric 7R mechanism

HAN Bo1, XU Yundou1,2, YAO Jiantao1,2, ZHENG Dong1, ZHANG Shuo1, ZHAO Yongsheng1,2   

  1. 1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China;
    2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao 066004, China
  • Received:2018-07-13 Revised:2018-08-06 Online:2019-04-15 Published:2018-10-10
  • Supported by:
    National Natural Science Foundation of China (51675458); Key Project of Natural Science Foundation of Hebei Province (E2017203335); Youth Top Talent Project of Hebei Province Higher Education (BJ2017060)

摘要: 提出了一种空间对称型7R机构,可利用此机构组合构造空间可展开机构。通过旋量拓扑图分析了其整体自由度,得到了其运动副轴线方位变化时整体机构自由度数目的变化情况;基于反螺旋理论分析了运动副轴线方位不同的情况下运动输出构件的自由度数目和性质,并针对其瞬时性做了判别,发现其在不同运动副轴线方位布置情况下会出现局部自由度与瞬时自由度;分析了机构在不同驱动情况下的奇异特性,得到了机构在不同的驱动下处于奇异位形时的几何条件;最后选定自由度为1时的空间对称型7R机构组合构造了一类单自由度多棱锥型空间可展开机构,通过设置其运动副轴线方位,可以使其具有较大收拢率,同时当机构完全展开时,奇异特性使得其具有较好的力学性能。通过多个棱锥型空间可展开机构的组合,可以构造出新型大尺度空间可展开机构,在航空航天领域具有较好的应用前景。

关键词: 7R机构, 可展开机构, 自由度, 奇异性, 螺旋理论

Abstract: A spatial symmetric 7R mechanism is proposed in this paper, constructing space deployable mechanisms. Firstly, the overall degree of freedom (DOF) is analyzed based on the screw constraint topology diagram, obtaining the variation of DOFs of the whole mechanism when the orientation of the joint axes changes. Then, the number and nature of DOFs of the motion output component in different orientations of the joint axes are analyzed based on the inverse screw theory. and the transient nature of the DOFs are analyzed. It is found that passive DOF and instantaneous DOF occurred in the arrangement of different joint axes orientations. Furthermore, the singular characteristics of the mechanism in different driving conditions are analyzed, obtaining the geometric conditions of the mechanism in the singular configuration under different driving conditions. Finally, a class of single-DOF polygonal pyramid-shaped space deployable mechanism is constructed by combining spatial symmetric 7R mechanisms with DOF at one. By setting the joint axes orientations, the mechanism yields a large folding rate, and due to its singular properties, it has good mechanical properties. Through the combination of a plurality of pyramid-shaped space deployable mechanisms, new large-scale space deployable mechanisms can be constructed, showing good application prospects in the aerospace field.

Key words: 7R mechanism, deployable mechanism, degree of freedom, singularity, screw theory

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