本文關(guān)鍵詞：可重構(gòu)可展多面體機(jī)構(gòu)的設(shè)計(jì)與理論研究　出處：《北京交通大學(xué)》2017年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 可展機(jī)構(gòu) 多面體機(jī)構(gòu) 可重構(gòu)機(jī)構(gòu) 折彎桿組 串并聯(lián)機(jī)構(gòu) 移動(dòng)機(jī)器人

【摘要】：可展機(jī)構(gòu)因其優(yōu)良的折疊、伸展性能,被廣泛應(yīng)用于日常生活、可變結(jié)構(gòu)和大型可展設(shè)備中,近年來隨著城市生活節(jié)奏的加快和航空骯天技術(shù)的飛速發(fā)展,可展機(jī)構(gòu)也遇到了新的機(jī)遇和挑戰(zhàn),如何在不改變裝配關(guān)系的前提下增加其展開和操作模式以適應(yīng)不同的任務(wù)要求成為可展機(jī)構(gòu)設(shè)計(jì)的前沿問題。本文基于平臺(tái)重合、轉(zhuǎn)動(dòng)副同軸和自穿越等技術(shù)手段,設(shè)計(jì)了一系列由半平臺(tái)、折彎桿組、直線桿組、平行四邊形機(jī)構(gòu)等組成的可重構(gòu)單元�；诳芍貥�(gòu)單元,采用"頂點(diǎn)"構(gòu)造、"面"構(gòu)造、"體"構(gòu)造等構(gòu)造方法搭建了基于柏拉圖多面體、半正多面體、Johnson多面體和多棱柱的可重構(gòu)可展多面體機(jī)構(gòu),形成了較為系統(tǒng)的可重構(gòu)可展多面體機(jī)構(gòu)的設(shè)計(jì)理論和方法。主要研究工作如下:(1)根據(jù)折彎桿組的可重構(gòu)特性,設(shè)計(jì)了具有四個(gè)半平臺(tái)的可重構(gòu)折彎桿組。通過將對(duì)稱的可重構(gòu)折彎桿組插入到柏拉圖多面體頂點(diǎn)以及相鄰面中構(gòu)造了一類可重構(gòu)可展柏拉圖多面體機(jī)構(gòu)。設(shè)計(jì)了兩類大伸縮比的可重構(gòu)一般化折彎桿組(n-SEs-2-RGAEs 和 n-AEs-2-RGAEs),著重分析了n-AEs-2-RGAEs 在兩種運(yùn)動(dòng)模式下的運(yùn)動(dòng)學(xué),得到了令其達(dá)到完全收縮狀態(tài)和完全展開狀態(tài)的尺寸參數(shù)。利用1-AE-2-RGAEs構(gòu)造了具有大伸縮比的可重構(gòu)可展柏拉圖多面體,并給出了其在兩種運(yùn)動(dòng)模式下的伸縮比計(jì)算方法。(2)對(duì)比分析了半正多面體與柏拉圖多面體頂點(diǎn)特性的不同。研究了兩個(gè)折彎桿組耦合運(yùn)動(dòng)條件,進(jìn)而構(gòu)造了可重構(gòu)雙折彎桿組。給出了可重構(gòu)雙折彎桿組的連桿和平臺(tái)的參數(shù)約束,分析了兩種運(yùn)動(dòng)模式下的運(yùn)動(dòng)學(xué)問題。將可重構(gòu)雙折彎桿組插入到三棱柱的頂點(diǎn)以及相鄰面中構(gòu)造了可重構(gòu)可展三棱柱機(jī)構(gòu)。連接三對(duì)折彎桿組構(gòu)造了可重構(gòu)三折彎桿組,將可重構(gòu)雙折彎桿組和三折彎桿組插入到J3多面體的兩類頂點(diǎn)以及它們相鄰的面中構(gòu)造了可重構(gòu)可展J3機(jī)構(gòu)。(3)利用整平臺(tái)、半平臺(tái)和直桿,設(shè)計(jì)了三種可重構(gòu)單元:可重構(gòu)直線桿組、可重構(gòu)雙直線桿組和可重構(gòu)三直線桿組,確定了三種可重構(gòu)單元所有連桿和平臺(tái)尺寸參數(shù)變量中獨(dú)立變量的數(shù)量。將三種可重構(gòu)單元插入到基礎(chǔ)多面體的頂點(diǎn)及其相鄰的面中分別構(gòu)造了退化的四面體機(jī)構(gòu)、退化的三棱柱機(jī)構(gòu)、退化的C60機(jī)構(gòu)和退化的J3機(jī)構(gòu)。分析了可重構(gòu)雙直線桿組的運(yùn)動(dòng)學(xué),據(jù)此給出了退化的三棱柱機(jī)構(gòu)在兩種運(yùn)動(dòng)模式下平臺(tái)到縮放中心距離的變化曲線。(4)構(gòu)造了基于直線桿組和折彎桿組的三種拓展的平行四邊形機(jī)構(gòu)。分析了三種拓展的平行四邊形機(jī)構(gòu)的桿長參數(shù)和運(yùn)動(dòng)模式,進(jìn)而計(jì)算了它們在兩種運(yùn)動(dòng)模式下的伸縮比;將拓展的平行四邊形機(jī)構(gòu)圓周陣列得到了三角形、五邊形和六邊形可重構(gòu)面單元,以"面"構(gòu)造方式將可重構(gòu)面單元插入基礎(chǔ)多面體的面并用角塊連接,構(gòu)造了可重構(gòu)可展六棱柱機(jī)構(gòu)和C60機(jī)構(gòu)。(5)利用伸縮單元和整周回轉(zhuǎn)的轉(zhuǎn)動(dòng)關(guān)節(jié)構(gòu)造了自穿越三棱柱機(jī)構(gòu),分析了其三種典型的步態(tài):自穿越步態(tài)、蠕動(dòng)步態(tài)和穿-蠕組合步態(tài)。構(gòu)造了雙三棱柱機(jī)構(gòu)并研究了具有三個(gè)攀爬平臺(tái)的蠕動(dòng)步態(tài)。利用"體"構(gòu)造方法搭建了 3-3多棱柱機(jī)構(gòu),通過合理規(guī)劃自穿越運(yùn)動(dòng)順序?qū)崿F(xiàn)了翻涌運(yùn)動(dòng)。通過機(jī)構(gòu)構(gòu)造、自由度分析、運(yùn)動(dòng)學(xué)分析、步態(tài)分析、仿真和樣機(jī)試驗(yàn)驗(yàn)證了具有自穿越特性的棱柱和多棱柱機(jī)構(gòu)用于移動(dòng)機(jī)器人的可行性。綜合而言,本文系統(tǒng)開展了可重構(gòu)單元設(shè)計(jì)與分析、可重構(gòu)可展多面體機(jī)構(gòu)構(gòu)造與分析等研究工作,構(gòu)造了一系列可重構(gòu)可展多面體機(jī)構(gòu),形成了較為系統(tǒng)的可重構(gòu)可展多面體機(jī)構(gòu)的設(shè)計(jì)和構(gòu)造方法,為可展多面體機(jī)構(gòu)提供更多的運(yùn)動(dòng)模式,增加了其對(duì)變化環(huán)境的適應(yīng)性,也為其他類型可展機(jī)構(gòu)的可重構(gòu)設(shè)計(jì)提供了思路。
[Abstract]:Deployable mechanism because of its excellent folding, stretching performance, is widely used in daily life, variable structure and large deployable equipment in recent years, with the rapid development of the city to accelerate the pace of life and an aviation day technology, deployable mechanism has encountered new challenges and opportunities, such as where the premise does not change the assembly the relationship between increased its deployment and operation mode in order to adapt to the requirements of the different tasks can become frontier problem of exhibition mechanism design. Based on the platform of coincidence, and self through technical means such as rotating pair coaxial, designed a series of semi platform, bending rod group, straight rod group, parallelogram mechanism composed of reconfigurable unit. The reconfigurable unit based on the "vertex" structure, surface structure, body structure construction method is built based on the Platon polyhedron, semi regular polyhedron, Johnson polyhedron and reconfigurable multi prism deployable mechanism of polyhedron, The formation of the design theory and method of systematic reconfigurable deployable polyhedron mechanism. The main research work is as follows: (1) according to the characteristics of reconfigurable bending rod group, has designed 4.5 platform for reconfigurable bending rod group. The symmetry of the reconfigurable bending rod group inserted into the Platon vertex and adjacent surface construct a class of reconfigurable deployable mechanism. Platon polyhedron two large expansion ratio of the reconfigurable general bending bar group design (n-SEs-2-RGAEs and n-AEs-2-RGAEs), focuses on the analysis of the n-AEs-2-RGAEs in the two motion modes of motion, has been to achieve complete muscle contraction and the fully unfolded state using size parameters. 1-AE-2-RGAEs constructed with reconfigurable than large deployable telescopic Platon polyhedron, and gives the two motion modes of the expansion ratio calculation method. (2) comparison and analysis of the half Regular polyhedron and Platon vertex properties. Study two bending bar group coupling movement condition, and to construct the reconfigurable double bending rod group. Parameters are given constraint reconfigurable double bending linkage mechanisms and platforms, analyzes the two motion modes of kinematics. The reconfigurable double bending bar group is inserted into the vertex and adjacent surfaces of the three prism construct a reconfigurable deployable mechanism. Three of the three prism bending rod group constructed reconfigurable seventy percent off curved rod set is connected, the reconfigurable double bending rod group and the seventy percent off group bending rod inserted into the two class of vertex J3 polyhedra and their adjacent surface is constructed. Reconfigurable deployable mechanism J3. (3) the use of the whole platform, semi platform and straight rod, three reconfigurable unit design: reconfigurable straight rod group, reconfigurable double straight rod group and reconfigurable three straight rod group, identified three kinds of reconfigurable unit all connected The number of independent variables and parameters in rod size of the platform. The three reconfigurable unit is inserted into the vertex and adjacent base polyhedron surface are constructed tetrahedral degradation mechanism, three prism mechanism degradation, C60 degradation mechanism and degradation of J3. By analyzing the kinematics mechanism of reconstruction of double line bar group. According to given curve zoom center distance three prism mechanism of degradation in the two motion modes platform. (4) constructed a straight rod group and bending bar group three expansion of the parallelogram mechanism. Based on the analysis of model parameters and the motion rod three to expand the parallelogram mechanism. In the two motion modes of the expansion ratio were calculated; the parallelogram expansion mechanism of circle array are triangle, Pentagon and hexagon reconfigurable unit, to the "surface" structure will be. The basic unit is inserted into the face of polyhedron and angle blocks, constructing reconfigurable six prism deployable mechanism and C60 mechanism. (5) by a rotating joint structure from three through the prism expansion unit and rotation mechanism, analysis of the three kinds of typical gait: self crossing gait, gait and wear - creeping creep combined gait. Construct the double three prism and research institutions have three creeping gait. Climbing platform was built using the "body" construction method of 3-3 multi prism mechanism, through reasonable planning through the self motion order achieved by surge motion. The structure, degree of freedom analysis, kinematics analysis, gait analysis, simulation and the prototype test has proved self characteristics and multi prism through the prism mechanism for the feasibility of mobile robot. In general, this paper carried out the system design and analysis of reconfigurable unit, reconfigurable and Exhibition polyhedron structure Analysis and research work, constructed a series of reconfigurable deployable polyhedron mechanism, formed a design and construction method of reconfigurable system deployable polyhedron mechanism, provides motion model for more developable polyhedron institutions, increase the adaptability to changes of the environment, but also for other types of deployable mechanism of reconfigurable design provides a train of thought.

【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH112

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