具有变胞功能的平行四杆机构动力学特性研究

Study on dynamic characteristics of parallel four-barmechanism with metamorphic function

变胞机构在机器人结构设计中应用广泛。为了研究一种常见输电线巡检机器人具有的平行四杆变胞机构动力学特性,首先建立运动循环图对其运动中的构态变换过程进行分析,确定了构态变换方式;其次利用Lagrange方程建立此移动变胞机构的动力学模型,通过数值仿真,分析质量和杆长参数变化时对其动力学特性的影响。研究结果表明:此平行四杆变胞机构属于二构态变胞机构;随着质量的增大,速度峰值在增大,而随着杆长的增大,速度峰值却在减小;两个参数对加速度的影响很小。研究结果对于具有此变胞机构形式的巡检机器人动力学研究提供了借鉴作用。

Metamorphic mechanism is widely used in robot structure design.In order to study the dynamic characteristics of the parallel four-bar metamorphic mechanism within a common transmission line inspection robot,firstly,the cyclogram is established to analyze the configuration transformation process in motion,and the configuration transformation mode is determined;secondly,the dynamic model of the parallel four-bar metamorphic mechanism is established by Lagrange method.Through numerical simulation,the influence of mass and rod length parameters on its dynamic characteristics is analyzed.The results show that the parallel four-bar metamorphic mechanism belongs to the two-state metamorphic mechanism;with the increase of mass,the peak velocity increases,while with the increase of rod length,the peak velocity decreases.These two parameters have little effect on acceleration.The research results can be provided as a reference for the dynamics research on inspection robots with this parallel four-bar metamorphic mechanism.