1自由度8杆单铰LEMs构型的研究

Research for Single Joint LEMs Types with One Degree of Freedom and Eight Bars

提出一种Lamina Emergent Mechanisms(LEMs)机构综合方法,对1自由度8杆LEMs构型进行研究,该方法能够求解包含单铰转动副,以及机架和主动件变换的LEMs机构综合问题.首先,通过构造平面运动链的杆组邻接矩阵,求解基于1自由度8杆的所有平面机构的可能连接方式.其次,基于杆件和自由度的数目,分析包含各级Assur杆组的所有装配方式,构建杆组邻接矩阵的框架.再次,依据一定的约束条件,将第一级及之后的杆组依次装配到主动件和机架或者前级杆组上,并且同步辨识同构体,从而获取仅含转动副的所有平面机构构型.最后,用相应的柔顺片段代替刚性片段,完成LEMs构型综合.

A structural synthesis method of Lamina Emergent Mechanisms （LEMs） with revolute joint is proposed, which can apply to the research for single joint LEMs types of one degree of freedom and eight bars with the frame and driver link transformation. First, the LEMs in the plane can be equivalent to the planar kinematic chains, and the group-based adjacent matrix of the planar kinematic chains is constructed to solve all possible connection types of planar mechanism which are given the number of bars and degree of freedom. Then, according to the number of bars and degree of freedom, analysis all the combination of Assur groups, in order to set up the frame of the group-based adjacent matrix, the first stage and later groups are assembled to the driver link and frame or former groups. The isomorphism is identified in synchronism, and the connections of planar mechanism with only revolutc pair are obtained. Finally, the obtained planar kinematic chains are restored to LEMs in the planar.