【作者】 张武翔； 丁希仑； 戴建生；

【Author】 ZHANG Wu-xiang1,DING Xi-lun1,DAI Jian-sheng2(1.Institute of Robotics,Beijing University of Aeronautics and Astronautics,Beijing 100083,China;2.Department of Mechanical Engineering,King’s College,University of London,London WC2R 2LS,UK)

【机构】 北京航空航天大学机器人研究所； 英国伦敦大学国王学院；

【摘要】 阐述了一种典型的变自由度机构——舱门开关机构的机构原理,并对其自由度变化前后的机构构态进行分析和对比;研究了此机构构态变换前后的运动学特性;利用动量守恒原理分析了构态变换过程中由于速度差异产生的碰撞和冲击问题;讨论了其对整体机构运动动态稳定性影响;分析了实现机构构态稳定切换的条件,并根据理论分析的结果从驱动控制的角度提出了相应的解决方法。对舱门开关机构的构态变换过程进行仿真,结果表明,所提出的更改驱动控制的方法可以有效地降低碰撞和冲击对机构运行的影响,保证了机构构态变换的动态稳定性。拓展和完善了变自由度机构的理论,为研究变自由度机构奠定了基础。更多还原

【Abstract】 The mechanism principle of a kind of typical variable freedom mechanism,the operating mechanism of Spacecraft hatch door,was analyzed and compared in detail for its freedom varying before and after.The kinematic characteristic of this mechanism was depicted and conservation of momentum was applied to research the impact caused by velocity difference that occurred in the course of configuration transformation,furthermore,its influence on the dynamic stability of the whole mechanism was discussed.After analyzing the condition that can make the configuration transform smoothly,the corresponding method was proposed to minish the influence of this problem to ensure the stable performance of mechanism from the aspect of drive control according to theoretical analysis.The simulation results of configuration transformation show the feasibility of this method.This investigation improves the analysis theory of variable freedom mechanism and provides a basis for researching variable freedom mechanism systemic.更多还原