环状可展机构构型设计的D―H矩阵传递法

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This paper forms a part of a research project supported by NNSFC （ National Natural Science Foundation of China）. Sections 1 and 2 of the full paper explain our application of the D-H transfer matrix method to the configuration designing of circular and developable mechanism. We believe that our application has obtained some results useful in further research under the NNSFC project. The core of our thinking and sections 1 and 2 consists of： （ 1 ） the circular and developable mechanisms of forming a closed-loop have advantages such as large ratio of shrinkage and light weight, thus having a great potential application in aerospace field; since there are redundant constraints in the structure of each mechanism, its geometric parameters should meet the compatibility conditions and the configuration designing is a very complex problem; study on the configuration designing of the mechanism has become one of the popular topics in mechanism research at present; （2） we establish constraint equations of the mechanism of some planes of symmetry; we study the relationship among section angles of links on the first side, twist angles of hinges on the second side and the angle of spread on the third side. We give the relation curves of parameters for each of three circular and developable mechanisms ： four bars, six bars and twelve bars ; these curves are useful for further research work on sizing optimization of the circular and developable mechanisms.环状可展机构具有收缩比大，质量轻等优点，在航天领域具有巨大的应用潜力。由于环状可展机构在结构上存在虚约束，其几何参数应满足协调条件，故其构型设计是十分复杂的问题，目前成为机构学领域一个研究热点。文章基于D-H矩阵传递法，建立了具有多个对称面的环状可展机构构型约束方程，得出了环状可展机构构型设计公式，研究了构件截面角、铰链扭角与展开角间的制限关系，给出了四杆、六杆和十二杆机构的参数关系曲线。研究工作对于进一步开展环状可展机构的尺寸优化设计奠定了基础。