单自由度概率翻转移动连杆机构

Single-DOF Mobile Linkage with Possibility Orientation Movements

基于一种过约束伸缩机构,设计一种单自由度的概率翻转移动连杆机构。通过分析机构的移动原理得出该机构具有两种运动步态,即定向步态和概率步态。定向步态的机构移动有确定的方向;概率步态的机构移动有两个可能方向,此随机过程在理想条件下符合伯努利概率分布。针对机构的移动特性和移动路径,提出使其在平面内任意运动的控制方法。建立移动机构的动力学模型并进行运动仿真。仿真结果表明,通过两种步态的组合控制,可以使机构实现从指定的出发点到达任意的预期目标点的平面移动。制作一台样机,验证了该单自由度机构的移动和转向功能。

A kind of single-DOF mobile mechanism is proposed based on an over-constrained spatial deployable linkage.According to the analysis of motion principles,there are two types of gaits,which are orientation definite gait and orientation random gait.In the orientation definite gait,the orientation of movement of the mechanism is definite,while in the orientation random one the stochastic variable of orientation obeys the Bernoulli distribution in ideal condition.Based on the mobile characters and the path,the controlling method for the mobile mechanism is demonstrated to realize either destination movement in a two dimensional environment.The dynamics model of the mobile mechanism is built and simulated.The results of the simulation prove that the mobile mechanism can move to any destination area from a given starting area in a plane by compound control of the two kinds of gaits.A prototype is manufactured and the theory is demonstrated by its performance.