一种三构态变胞机构设计与分析

Design and analysis of a three configuration metamorphic mechanism

基于变胞机构概念,设计一种能够在两多自由度和一个单自由度间灵活变换,能灵活实现三种不同构态的新型变胞机构,运用闭环矢量法对该新型变胞机构进行了运动学分析,在此基础上分析了新型变胞机构在给定尺度参数条件下的有效工作空间。分析结果表明,相对于传统变胞机构,新型变胞机构能更有效地增大其工作空间,可广泛应用于林木机械、工业机器人等工程领域。

Based on the concept of metamorphic mechanism,a metamorphic mechanism with more than 2-DOF and 1-DOF flexible transformation was designed,which could flexibly implement three different configuration. Kinematic analysis was carried out by closed loop vector method. On the basis,the effective working space of the new type of metamorphic mechanism was analyzed under the given scale parameter condition. Compared with traditional metamorphic mechanism,the new type metamorphic mechanism has more working space effectively,and can be widely used in forest machinery,industrial robot and other engineering fields.