【作者】 丁万； 姚燕安；

【Author】 Ding Wan,Yao Yan-An* (College of Mechanical and Electronic Control Engineering, Beijing Jiaotong Univercity, Beijing 100044, China)

【机构】 北京交通大学 机械与电子控制工程学院；

【摘要】 提出一种气动二进制控制的多面体移动机构,它由5个含可伸缩支链的四面体组成,每条边为一条支链,各支链均由气缸、万向节、顶点构件三个部分构成。其滚动原理是通过控制各个气缸的运动逻辑,使质心超出支撑区域以实现滚动。首先,进行数学建模与质心坐标求解;其次,提出一种二进制控制策略并规划了移动机构的滚动方向;最后,进行了动力学仿真,并制作一台原理样机以验证所提出的概念。更多还原

【Abstract】 A pneumatic cylinder driving and binary controlling polyhedron mobile mechanism is proposed, which is composed of 5 tetrahedrons. It includes scalable branch chain in each edge, which is consisted of three parts, pneumatic cylinder, universal joint, and vertex component. Its rolling principle is that the center of mass (CM) of the mechanism moves out of the supporting area and makes it tip over through the controlling of the motion logic in each cylinder. Firstly, this paper builds the mathematic model and solves the coordinate of CM of the mechanism; Then, it presents a binary control strategy and plans the rolling direction of the mechanism; At last, dynamic simulation is performed, and a prototype is developed to verify the proposed conception.更多还原