变胞折块机构:圆柱体/圆锥体切割链接而成的变胞折块机构设计与运动学分析

Metamorphic Oriblocks:Design and Kinematic Analysis of Metamorphic Oriblocks Constructed by Cutting and Linking Cylinders/Cones

折纸是一种将纸折叠使其具有良好折叠效果的艺术。为了使其能够应用于机器人与机构学领域,学者们相继提出了厚板折纸机构的设计技术,使折纸可以广泛应用于折展机构与可重构机构的设计中。在这些研究中,变胞机构开辟了一种可以将折纸机构特别是厚板折纸引申于机构与机器人广泛应用的重要领域,将折纸机构的折叠特性与机构特征结合起来,使得所得机构更具有高适应性。提出一种新型研究方向,即变胞折块机构。这一研究突破了厚板折纸机构设计的局限,基于圆柱体和圆锥体的几何体,采用几何面分割与切换,提出了一种普适性新型折块机构设计方法,设计出一般类型的圆柱型和圆锥型变胞折块机构。这一类型机构具有典型的变胞特性,进行折体变换,并变换拓扑与活动度。文章通过推导这类变胞折块机构闭环方程,举例进行了不同类型变胞折块机构运动学分析。该类机构在变胞机构、折展机构、过约束机构和可重构机构等领域具有潜在的丰富应用前景。

Origami is the art of folding paper to make it have an excellent folding effect.In order to apply it to the field of robotics and mechanisms,researchers have successively proposed design methods of thick-panel origamis to enable origami to be widely used in the design of foldable mechanisms and reconfigurable mechanisms.Although the thick-panel origamis are kinematically equivalent to zero-thickness origamis,researchers only consider translating the creases to obtain rotational axes of thick-panel origamis in the design process.Therefore,all the rotational axes are parallel to the kinematically equivalent zero-thickness origamis when the thick-panel origamis are at their deployed configuration.Namely,all the rotational axes are parallel to a certain plane.To break through the limitation of the design method of thick-panel origamis,a general design method of metamorphic oriblocks was proposed based on cylinders and cones,which constructs general types of cylindrical and conical oriblocks.This research will also deduce the closure equations of these metamorphic oriblocks,and give examples to analyze the kinematics of different types of metamorphic oriblocks.The metamorphic oriblocks designed in this paper has potential application prospects in the fields of foldable mechanisms,over-constrained mechanisms and configurable mechanisms.