对称式对心双曲柄滑块机构在可变结构机构设计中的应用

Application of Symmetric Central Double Slider-Crank Mechanism in Design of the Deformable Mechanism

利用对称式对心双曲柄滑块机构的特性,将其与平行四边形机构组合的变胞机构应用于可变形机构的结构设计中,通过曲柄转动控制两滑块距离的变化可以使其达到结构变形的目的。给出了满足变形要求的各杆件尺寸关系,并用拓扑图和邻接矩阵对其不同的构态进行了描述。并应用此理论分析了其机构组成原理,设计了一种可变结构的机器人悬架机构,其车身采用可变形的平行六边形结构,可以根据环境进行横向宽窄变化。因此,采用该悬架机构的机器人具有更强的环境地貌适应能力,为可变形机构的设计提供了一种新的选择。

By using the feature of symmetric central double slider-crank mechanism,the combination metamorphic mechanism with parallelogram mechanism is applied to the structural design of the variable mechanism,and the change of distance between the two cranks can be controlled by twirling the crank to achieve the purpose of structural deformation.In this paper,the dimensional relationship of each rod meeting the deformation requirements is given,and the different configuration is then described with the topological graph and adjacency matrix.Based on this theory,the principle of its mechanism is analyzed,and a variable structure robot suspension mechanism is designed.The robot body uses deformable parallel hexagonal structure which can make the transverse width changes according to the environment.So,the robot with the suspension mechanism has stronger landscape environmental adaptability,which would provide a new choice for the design of deformable mechanism.