少自由度空间耦合机构构型综合理论与方法研究

项目名称： 少自由度空间耦合机构构型综合理论与方法研究

项目编号： No.51475015

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 刘婧芳

作者单位： 北京工业大学

项目金额： 82万元

中文摘要： 机构构型综合一直是机构学中的研究热点，是机械创新的根本所在。空间耦合机构是一类新型复杂多环机构，它的构型综合缺乏理论指导，严重阻碍了这类机构的开发和应用。本项目旨在建立少自由度空间耦合机构构型综合的理论和方法。第一，以具有期望自由度的对称并联机构出发，引入耦合链，构建耦合结构的基本模型；第二，对基本耦合结构模型进行解耦，将基础模型拆分为多条单链；第三，以含耦合链的单链为研究对象，从具有一个未知耦合链的独立链开始构建对应未知链的基础约束集，提出迭代法来配置其它未知耦合链约束集，直至得到所有耦合链的有效基础约束螺旋系。最后，利用线性组合完成耦合链布局，同时构造等自由度非瞬时耦合机构。通过仿真模拟、结果验证、理论修正或改进，使其形成一套系统的耦合机构构型综合理论和方法，同时进行典型耦合机构实验样机制作。

中文关键词： 构型综合；耦合机构；螺旋理论；空间机构

英文摘要： Mechanism typethesis is always a hotspot in kinematics and determines the machinery innovation. Spatial coupled mechanism is a kind of novel complicated polycylic mechanisms and the typethesis lacks theoretical direction, which seriouly restricts the development and application of those mechanisms. The project is aimed at establishing a methodology for typethesis of spatial coupled mechanisms. Firstly, from a symmetric parallel-mechanism with expected mobility,a basic model of the coupled mechanism is built by adding coupled chains.Secondly,the basic model is decoupled and several single-chains is decomposed from the model. Thirdly, analyze the single chains containing coupled chains, where basic constraint sets of corresponding unknown chains will be initially obtained from the single chains both including only one unknown coupled chains. And then,an iterative method is proposed for allocating the constraint sets of other unknown coupled chains，as thus，effective basic constraint-screw systems of all coupled chains are obtained.Lastly,structures of coupled chains are configurated by linear combination and a full-cycle coupled mechanism with equal mobility is built.By analogue simulation,result verification and theory modification,a systematic methodology for typethesis of coupled mechanisms is ultimately formed, at meantime, an experimental prototype of the typical coupled mechanism is produced.

英文关键词： mechanism typethesis;coupled mechanism;screw theory;spatial mechanism