CAJ | 학술논문

提出一种新型的两自由度空间三正交平行四边形滚动机构.该机构由10个连杆、12个虎克铰与4个转动副构成,其外观呈现为两两正交的三个平行四边形,利用平行四边形机构变形失稳机制使机构实现以滚动步态行进,并通过运动副布置与结构设计获得直线行进与灵活变换方向的移动功能.运用螺旋理论,采用先局部后整体的次序分析机构的自由度;根据几何关系建立简化模型,对其进行运动学分析,得到各杆件的质心坐标;分析移动机构的稳定性并讨论其翻滚条件;应用软件建立动力学模型并仿真,完成步态规划;制作一台原理样机,进行试验研究.结果表明,该滚动机构可用较为简单的控制方式实现直线行进与灵活变换方向的功能,并且具有良好的刚度与承载能力.
제출일충신형적량자유도공간삼정교평행사변형곤동궤구.해궤구유10개련간、12개호극교여4개전동부구성,기외관정현위량량정교적삼개평행사변형,이용평행사변형궤구변형실은궤제사궤구실현이곤동보태행진,병통과운동부포치여결구설계획득직선행진여령활변환방향적이동공능.운용라선이론,채용선국부후정체적차서분석궤구적자유도;근거궤하관계건립간화모형,대기진행운동학분석,득도각간건적질심좌표;분석이동궤구적은정성병토론기번곤조건;응용연건건립동역학모형병방진,완성보태규화;제작일태원리양궤,진행시험연구.결과표명,해곤동궤구가용교위간단적공제방식실현직선행진여령활변환방향적공능,병차구유량호적강도여승재능력.
A novel two degrees-of-freedom (DOF) rolling mechanism constructed by three spatial-crossed parallelograms is proposed. The mechanism whose appearance presents three pairwise orthogonal parallelograms consists of 10 links, 12 universal joints and 4 revolute joints. It can realize rolling by taking advantage of the mechanism of the parallelogram's instability caused by its deformation. By the arrangement of the joints and the structure design, the mechanism can achieve locomotion functions of going straight and flexible turning. The DOF of the mechanism is obtained by using the screw theory and applying the analytical sequence from local to whole. According to the simplified configuration which is established by geometric relations, kinematic analysis is carried out, such that the center of gravity of the links can be derived. The stability is analyzed, and the tumbling condition is discussed. The dynamic model of the mechanism is established and simulated by software, and the gait planning is completed. A prototype is manufactured, and the experiment research is done. The result shows that, by a simple control means, the proposed rolling mechanism can achieve the functions of going straight and flexible turning, and good stiffness and carrying capacity are revealed.