摘要
变胞机构在航天器和机器人领域有着广泛的应用。本文用Huston低序体阵列描述变胞机构的拓扑结构,并对一种典型变胞机构进行了构态分析。用齐次变换矩阵建立了该变胞机构的运动学数学模型,并对其进行了运动学仿真。数值仿真结果表明,变胞机构在构态切换时加速度有突变,进而提出了消除加速度突变的方法。
Metamorphic mechanisms are widely used in the fields of spacecrafts and robotics. This paper described their topological structures by using the Huston Lower Numbered Arrays, and the configuration analysis of a typical metamorphic mechanism was carried out. Its kinamatic mathematical model was established through using a homogeneous transformation matrix, and its kinematic simulation was also accomplished. The numerical simulation results show that its acceleration was discontinued when the configurations shifted from one to another. Furthermore, the method for removing the discontinued acceleration was proposed.
出处
《机械科学与技术》
CSCD
北大核心
2006年第9期1092-1095,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(50275002)
天津市高等学校科技发展基金项目(20041103)资助
关键词
变胞机构
运动学
仿真
metamorphic mechanism
kinematics
simulation
