基于平面机构运动链的LEMs构型综合

发布时间：2018-12-28 21:21

【摘要】：提出一种LEMs机构综合方法,该方法能够求解包含转动副和移动副,以及机架和主动件变换的LEMs机构综合问题。首先,构造平面运动链的杆组邻接矩阵,基于此杆组邻接矩阵,求解给定构件数和自由度数的所有平面机构的可能连接方式;其次,基于构件和自由度的数目,分析杆组的所有装配方式,构建杆组邻接矩阵的框架,依据一定的约束条件,将第一层及之后的杆组依次装配到主动件和机架或者前层杆组上,并且同步辨识同构体,从而获取只含转动副的所有平面机构构型;然后,将主动件的运动副类型以及不同类型的各级杆组分别代入前述所求得的平面机构构型,得到包含转动副和移动副,以及机架和主动件变换的所有平面机构构型;最后,用相应的柔顺片段代替刚性片段,完成LEMs构型综合。
[Abstract]:This paper presents a synthesis method of LEMs mechanism, which can solve the synthesis problem of LEMs mechanism including rotating pair and moving pair, as well as frame and active component transformation. Firstly, the linkage matrix of the planar kinematic chain is constructed. Based on the linkage matrix, the possible connection modes of all planar mechanisms with given number of components and free degrees are solved. Secondly, based on the number of components and degrees of freedom, all the assembly methods of the bar group are analyzed, and the frame of the adjacent matrix of the bar group is constructed, which is based on certain constraints. The first layer and the subsequent bar group are assembled to the active member and the frame or the front layer bar group in turn, and the isomorphism is identified synchronously, so that all the planar mechanism configurations with only the rotating pair are obtained. Then, the types of motion pairs of active parts and different types of bar groups are substituted into the obtained planar mechanism configuration respectively, and all planar mechanism configurations including rotating pair and moving pair, as well as frame and active part transformation are obtained. Finally, the LEMs configuration synthesis was completed by replacing the rigid fragment with the corresponding compliant fragment.
【作者单位】：江南大学机械工程学院;上海交通大学机械系统与振动国家重点实验室;哈尔滨工业大学机器人技术与系统国家重点实验室;江苏省食品先进制造装备技术重点实验室;
【基金】：国家自然科学基金资助项目(50905075) 江苏省高校“青蓝工程”优秀青年骨干教师人才基金资助项目教育部中央高校基本科研业务专项基金重点资助项目(JUSRP51316B) 机械系统与振动国家重点实验室开放课题资助项目(MSV201407) 机器人技术与系统国家重点实验室开放基金资助项目(SKLRS-2012-MS-07) 江苏省食品先进制造装备技术重点实验室开放课题资助项目(FM-201402) 江苏省普通高校学术学位研究生科研创新计划资助项目(KYLX-1115)
【分类号】：TH112

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