用于变形机器人的可展结构设计-机械工程专业论文.docxVIP

中文摘要本篇论文为了设计一个可以用于变形机器人主体的可折展结构，以实现在行 走过程中可以很大程度地改变体积，系统地研究了基于一种单自由度过约束机构 的可展机构，其具有高刚度且易于控制。然而，普通的单闭环空间过约束机构无 法满足变形机器人大尺寸变化体积的需要。Bennett 机构的等效形式的提出，表 明了基于过约束机构设计具有完全折展特性的可展结构的可能性。本文研究了三 重对称 Bricard 机构的等效形式，此等效形式的连杆不再垂直于相邻旋转副轴线。本文首先阐述了 Bricard 机构的运动学分析及其等效形式。通过用连杆分别 连接 Bricard 机构原始形态相邻轴线延长线上的某两点，可以得到 Bricard 机构的 等效形式，并推导出使该机构完全展开和闭合的几何条件。然后介绍了一种采用 三角形截面杆构造三重对称 Bricard 机构等效形式的方法，通过对折展条件及行 为的分析，建立了三重对称 Bricard 机构的运动参数与其等效形式物理杆件的设 计参数之间的关系。之后进行了所有等效形式在折叠和展开过程中的干涉分析。 发现了两种不同类型的干涉，并找出了设计参数与干涉状态的关系，为设计参数 的选择提供了指导。最后，搭建了以可展结构为主体的变形机器人样机模型，并 进行了运动测试，该模型证明了本文提出的可展结构是变体机器人主体部分的一 个理想构成。关键词：可展结构；变形机器人；三重对称 Bricard 机构；等效形式；完 全折叠；干涉AbstractThis thesis is devoted to the design of a deployable mechanism used for the transformable robot which can change its volume to a great extent during walking. The proposed design is based on a special single-DOF overconstrained linkage which has high stiffness and can be easily controlled. However, a general spatial single-loop overconstrained linkage cannot meet the need of large volume change for the transformable robots. Referring to the alternative form of Bennett linkage which provides the possibility of designing completely deployed mechanism with overconstrained linkages, the alternative form of threefold-symmetric Bricard linkage is studied with the links no longer perpendicular to the revolute axes.The first part of this thesis demonstrates the kinematic analysis of the Bricard linkage and explores the alternative form of the Bricard linkage. By connecting two certain points on the extension of adjacent revolute axes of the original case with links, the alternative form of Bricard linkage is obtained and the geometric condition for planar hexagon deployment and compact folding is derived. In the second part, a simple method to construct the threefold-symmetric Bricard linkage in its alternative form using triangular cross-section bars has been introduced and verified. Starting with the derivation of the compatibility condition and the s