基于约束变化特征分析的变胞机构构型综合方法

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A metamorphic mechanism can be considered as a mechanism set composed by multiple kinematic chains which have the ability to be varied and combined following specific rules in order to make its configurations changed continuously to meet different mission requirements. Continuous configuration transformation is one of the most characteristics of the metamorphic mechanism and it results from the variation of constraints. On the basis of unified description of the generalized constraints in the design process of the mechanism, constraint variation in the metamorphic mechanism is analyzed based on its characteristic of multi-configuration. The way to achieve configuration transformation of metamorphic mechanisms and the design principle of metamorphic kinematic pairs is further achieved. A configuration synthesis methodology of metamorphic mechanisms is proposed. The essence of this method is to realize variation and coupling of the mechanism of adjacent configuration by applying metamorphic kinematic pairs according to the functions, constraints and sequence of configurations. The new approach is verified by developing a vehicle of various missions with a metamorphic driving mechanism.变胞机构可认为是机构构态按照特定规律进行连续变化的运动链序列集合，能够适应多种不同的工作任务和功能需求。可进行连续构态变化是变胞机构区别于传统组合机构的重要特性之一，而约束变化是使其构态发生变化的本质原因。根据变胞机构的多构态特性及其约束变化特征分析结果，给出约束变化的实现方式，提出变胞运动副的设计原则。在此基础上，提出一种变胞机构构型综合方法，其实质是根据变胞机构各阶段工作任务和约束条件得到各构态机构构型方案，并对各相邻构态机构方案进行相似度分析和筛选，进而以约束变化特征为基础设计变胞运动副，实现各最优相邻构态机构方案的耦合。以一种物料运输车驱动机构的设计为例对此方法进行验证。