双模式双三角锥滚动机构设计与运动分析

Locomotion analysis and design of a triangular bipyramid rolling mechanism with two modes

摘要:

基于3-RSR并联机构,应用平行四边形机构缩放技术提出一种双模式双三角锥滚动机构．该机构在一般位置状态和奇异位置状态分别具有折叠模式和移动模式．在折叠模式下,仅通过一个自由度即可完成折叠功能,用以减少其存放或运输时所占的空间,同时为其提供隐蔽能力;在移动模式下,机构展开且处于奇异位置,通过3个自由度来进行移动和转向．对自由度及其变化原因进行分析,规划了驱动配置方案．计算缩放比,根据机构的运动方式,规划了滚动步态并进行运动仿真．制作了一台样机,验证了机构变形方式与滚动功能的可行性．

Abstract:

Based on 3-RSR parallel mechanism, a triangular bipyramid rolling mechanism with two modes is proposed by using parallelogram mechanism folding technique. The mechanism has folding mode and mobile mode in normal position and singular position respectively. In folding mode, it gains the ability of folding by single degree of freedom, and the ability of folding makes the mechanism decreasing the storage space and acquiring the concealed ability. In mobile mode, the mechanism has three degrees of freedom which makes it rolling by deforming. The structure and the reason of freedom changing are analyzed. A prototype is manufactured to testify the feasibility of deforming method and rolling function.