CAJ | 학술논문

由于存在加工误差等因素，可展机构各连杆实际加工长度与理论计算长度往往不同，需要在装配时对其调整。多环闭链可展机构具有闭环多、环约束互相耦合、参数关系复杂等特点。为解决在尺寸调整时存在的高非线性、强耦合等问题，以均方根形式定义多环闭链机构的综合调整量，并以调整结构势能最小作为目标函数，推导出多环闭链可展机构尺寸调整的基本数学模型。根据实际调整方式，提出单向调整和双向调整两种计算模型。在此基础上，对多构态下多环闭链可展机构的尺寸调整方法进行研究。通过算例对上述方法和模型进行验证。结果表明，利用该方法得到的调整结果能满足可展机构多构态、多约束、多种调整方式的要求。研究成果有助于降低多环闭链可展机构的装配和加工难度。
유우존재가공오차등인소，가전궤구각련간실제가공장도여이론계산장도왕왕불동，수요재장배시대기조정。다배폐련가전궤구구유폐배다、배약속호상우합、삼수관계복잡등특점。위해결재척촌조정시존재적고비선성、강우합등문제，이균방근형식정의다배폐련궤구적종합조정량，병이조정결구세능최소작위목표함수，추도출다배폐련가전궤구척촌조정적기본수학모형。근거실제조정방식，제출단향조정화쌍향조정량충계산모형。재차기출상，대다구태하다배폐련가전궤구적척촌조정방법진행연구。통과산례대상술방법화모형진행험증。결과표명，이용해방법득도적조정결과능만족가전궤구다구태、다약속、다충조정방식적요구。연구성과유조우강저다배폐련가전궤구적장배화가공난도。
Due to the fact of manufacturing error, the realistic length of the linkages of the deployable mechanisms is always different from the theoretical one. It occurs the adjustment of linkages when assembling. The multi-closed-loop deployable mechanisms have the characteristics of many of closed loops, coupling of loop constraints and complication of parameters. In order to solve the problem of high nonlinear and tight coupling during the size adjustment of these mechanisms, the complex adjustment amount of the multi-closed-loop mechanisms is defined by root-mean-square algorithm. Aimed to minimize the adjustment potential energy, the basic size adjustment model of the multi-closed-loop deployable mechanisms is derived. According to the mode of the adjustment in practice, the unidirectional and bidirectional computation model is proposed. Based on that, the adjustment method of the multi-closed-loop mechanisms in the multi-configuration is investigated. The above method and models are verified by the examples. The results demonstrate that the calculated models satisfy the demands for multi-configuration, multi-constraint and multi-adjustment. The achievement will help to reduce the difficulty of assembling and manufacturing of the multi-closed-loop deployable mechanisms.