可重构可展多面体机构的设计与理论研究

发布时间：2018-01-18 06:23

本文关键词：可重构可展多面体机构的设计与理论研究　出处：《北京交通大学》2017年博士论文　论文类型：学位论文

【摘要】：可展机构因其优良的折叠、伸展性能,被广泛应用于日常生活、可变结构和大型可展设备中,近年来随着城市生活节奏的加快和航空肮天技术的飞速发展,可展机构也遇到了新的机遇和挑战,如何在不改变装配关系的前提下增加其展开和操作模式以适应不同的任务要求成为可展机构设计的前沿问题。本文基于平台重合、转动副同轴和自穿越等技术手段,设计了一系列由半平台、折弯杆组、直线杆组、平行四边形机构等组成的可重构单元。基于可重构单元,采用"顶点"构造、"面"构造、"体"构造等构造方法搭建了基于柏拉图多面体、半正多面体、Johnson多面体和多棱柱的可重构可展多面体机构,形成了较为系统的可重构可展多面体机构的设计理论和方法。主要研究工作如下:(1)根据折弯杆组的可重构特性,设计了具有四个半平台的可重构折弯杆组。通过将对称的可重构折弯杆组插入到柏拉图多面体顶点以及相邻面中构造了一类可重构可展柏拉图多面体机构。设计了两类大伸缩比的可重构一般化折弯杆组(n-SEs-2-RGAEs 和 n-AEs-2-RGAEs),着重分析了n-AEs-2-RGAEs 在两种运动模式下的运动学,得到了令其达到完全收缩状态和完全展开状态的尺寸参数。利用1-AE-2-RGAEs构造了具有大伸缩比的可重构可展柏拉图多面体,并给出了其在两种运动模式下的伸缩比计算方法。(2)对比分析了半正多面体与柏拉图多面体顶点特性的不同。研究了两个折弯杆组耦合运动条件,进而构造了可重构双折弯杆组。给出了可重构双折弯杆组的连杆和平台的参数约束,分析了两种运动模式下的运动学问题。将可重构双折弯杆组插入到三棱柱的顶点以及相邻面中构造了可重构可展三棱柱机构。连接三对折弯杆组构造了可重构三折弯杆组,将可重构双折弯杆组和三折弯杆组插入到J3多面体的两类顶点以及它们相邻的面中构造了可重构可展J3机构。(3)利用整平台、半平台和直杆,设计了三种可重构单元:可重构直线杆组、可重构双直线杆组和可重构三直线杆组,确定了三种可重构单元所有连杆和平台尺寸参数变量中独立变量的数量。将三种可重构单元插入到基础多面体的顶点及其相邻的面中分别构造了退化的四面体机构、退化的三棱柱机构、退化的C60机构和退化的J3机构。分析了可重构双直线杆组的运动学,据此给出了退化的三棱柱机构在两种运动模式下平台到缩放中心距离的变化曲线。(4)构造了基于直线杆组和折弯杆组的三种拓展的平行四边形机构。分析了三种拓展的平行四边形机构的杆长参数和运动模式,进而计算了它们在两种运动模式下的伸缩比;将拓展的平行四边形机构圆周阵列得到了三角形、五边形和六边形可重构面单元,以"面"构造方式将可重构面单元插入基础多面体的面并用角块连接,构造了可重构可展六棱柱机构和C60机构。(5)利用伸缩单元和整周回转的转动关节构造了自穿越三棱柱机构,分析了其三种典型的步态:自穿越步态、蠕动步态和穿-蠕组合步态。构造了双三棱柱机构并研究了具有三个攀爬平台的蠕动步态。利用"体"构造方法搭建了 3-3多棱柱机构,通过合理规划自穿越运动顺序实现了翻涌运动。通过机构构造、自由度分析、运动学分析、步态分析、仿真和样机试验验证了具有自穿越特性的棱柱和多棱柱机构用于移动机器人的可行性。综合而言,本文系统开展了可重构单元设计与分析、可重构可展多面体机构构造与分析等研究工作,构造了一系列可重构可展多面体机构,形成了较为系统的可重构可展多面体机构的设计和构造方法,为可展多面体机构提供更多的运动模式,增加了其对变化环境的适应性,也为其他类型可展机构的可重构设计提供了思路。
[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.

【学位授予单位】：北京交通大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TH112

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