摘要
针对狭窄环境下传统机械臂行程受限的问题,笔者基于折纸结构的伪刚体模型提出一种新型可折展机械臂结构设计方案。首先,构建折纸并联机构折痕图案,通过建立伪刚体运动学模型和动力学模型,分析其折叠过程及运动特性;其次,将多个折纸并联机构串联得到可折展机械臂,设计外部链节对折纸并联机构和可折展机械臂进行驱动;然后,对可折展机械臂进行设计,得到一种2转1移大折展比的机械臂;最后进行了仿真实验验证。研究结果表明:机械臂驱动折叠角与工作行程(输出距离)成正比关系,单自由度能够有效驱动5个折纸并联机构同步折叠,证明了外部链节驱动设计的正确性及可折展机械臂设计的可行性。
Aiming at the problem of limited travel of traditional mechanical arms in narrow environments,the author proposed a novel foldable mechanical arm structure design based on the pseudo-rigid body model of origami structures.Firstly,the crease pattern of the origami parallel mechanism was constructed,and its folding process and motion characteristics were analyzed by establishing the pseudo-rigid body kinematics and dynamics models.Secondly,multiple origami parallel mechanisms were connected in series to form a foldable manipulator,and external links were designed to drive the origami parallel mechanisms and the foldable manipulator.Then,the foldable manipulator was designed to obtain a two-rotation and one-translation manipulator with a large folding ratio.Finally,simulation experiments were conducted for verification.The researchresults show that the driving folding angle of the mechanical arm is directly proportional to the working stroke(output distance),and a single degree of freedom can effectively drive the five paper-folding parallel mechanisms to fold synchronously,verifying the correctness of the external link drive design and the feasibility of the design of the foldable mechanical arm.
作者
王艳
许勇
王金凯
WANG Yan;XU Yong;WANG Jinkai(Department of Intelligent Manufacturing,Shanghai Technical and Innovation Vocational College,Shanghai 201620,China;School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《轻工机械》
2025年第4期78-83,95,共7页
Light Industry Machinery
基金
国家自然科学基金(52475063)。
关键词
机械臂
折纸结构
伪刚体模型
混联机构
折痕
mechanical arm
origami structure
pseudo-rigid body model
hybrid mechanism
crease pattern
