新型平面-空间多面体变胞机构的尺度综合与运动学分析

Dimension Synthesis and Kinematics Analysis of A Novel Plane-space Polyhedral Metamorphic Mechanism

新型平面-空间多面体变胞机构既能够实现平面拓扑与空间多面体拓扑结构间变换,又可生成不同尺寸与不同形状的多面体构型,具有较广阔工程应用前景,其尺度及运动学问题是该机构工程应用的技术关键,以该机构为研究对象,并以八面体为例,根据机构极限位置与成型原理,对该机构进行尺度综合研究,分析了机构实现平面拓扑与空间拓扑灵活变化的杆件间的尺度关系,并综合应用旋量理论和D-H参数法,对机构进行运动学正运算分析和逆运算分析,研究了该新型平面-空间多面体变胞机构的运动学状态参数,最后进行了仿真分析,为此类新型机构的工程推广应用提供了一定理论基础。

Novel plan-space pOlyhedral metamorphic mechanism can not only change its topological structure from plane to special polyhedral but also generate different size and shape Of polyhedron configurations, it has the broad prospects for engineering application and its dimension and kinematics problems are the key techniques of the engineering application. The plane-space polyhedral metamorphic mechanism is investigated in this paper, and the octahedron is taken as an example. The dimension synthesis of the mechanism is studied according to the limit position and forming principle of such mechanism. The dimension relationship between the links of the novel mechanism, which achieve flexible topology change in plane state to space state, is analyzed. The forward and reverse operation analysis of the kinematics of mechanism are done by integrated applying screw theory and D-H parameter method. And the kinematic state parameters of the novel plan-space polyhedral metamorphic mechanism are studied, finally, the simulation analysis are given. The work of this paper provides some theory bases for the wide engineering application of such novel mechanism.