Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory

Sunke Zhu; Lü Hang; Weizhan Li; Yanli Yin; Yao Zhao

doi:10.16578/j.issn.1004.2539.2021.04.009

您当前的位置：

首页 >

文章列表页 >

Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory

Design· Calculation | 更新时间：2022-11-10

- Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory
- Journal of Mechanical Transmission Vol. 45, Issue 4, Pages: 51-57(2021)
- 作者机构：
  
  1.重庆交通大学机电与车辆工程学院，重庆 400074
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.04.009
  CLC：
扫描看全文
朱孙科,吕航,李伟湛等.基于图论的三构态助老变胞机构的设计与运动学分析[J].机械传动,2021,45(04):51-57.

Zhu Sunke,Hang Lü,Li Weizhan,et al.Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory[J].Journal of Mechanical Transmission,2021,45(04):51-57.
朱孙科,吕航,李伟湛等.基于图论的三构态助老变胞机构的设计与运动学分析[J].机械传动,2021,45(04):51-57. DOI： 10.16578/j.issn.1004.2539.2021.04.009.

Zhu Sunke,Hang Lü,Li Weizhan,et al.Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory[J].Journal of Mechanical Transmission,2021,45(04):51-57. DOI： 10.16578/j.issn.1004.2539.2021.04.009.

摘要

为了研发一款助老机器人，基于图论理论、机构的数综合，设计了一种可在2自由度、1自由度、0自由度之间切换的三构态助老变胞机构。针对变胞机构的2自由度行走构态，运用闭环矢量法进行了运动学分析，得到该变胞机构在该构态下关键位置的位移、速度、加速度等变化规律。分析结果显示，位移曲线在支撑期过渡到摆动期时位移变化较大，在步态周期的后40％内，速度、加速度均有较大变化，符合人体步态规律，表明该助老变胞机构设计是合理的。

Abstract

In order to develop an old helper robot， based on the graph configuration theory and the numerical synthesis， a three-configuration old helper mechanism that can switch between 2 degrees of freedom， 1 degree of freedom， and 0 degrees of freedom is designed. Aiming at the 2-DOF walking configuration of the metamorphic mechanism， the closed-loop vector method is used to analyze the kinematics， and the displacement， velocity and acceleration of the key position of the metamorphic mechanism in this configuration are obtained. The analysis results show that， the displacement curve changes greatly when the support period transitions to the swing period， and the speed and acceleration change greatly within the last 40% of the gait cycle， which is in line with the law of human gait， indicating that the old helper mechanism design is reasonable.

关键词

运动学构态变换变胞机构图论

Keywords

KinematicsStructure state transformMetamorphic mechanismGraph theory

references

DAI J S，JONES J R.Mobility in metamorphic mechanisms of f-oldable/erectable kinds［J］.Journal of Mechanical Design，1999，121（3）：376-377.

衡东领.新型三构态变胞机构设计与动态性能研究［D］.南宁：广西大学，2018：17.

HENG Dongling.Research on design and dynamic performance of a novel three configuration metamorphic mechanism［D］.Nann-ing：Guangxi University，2018：17.

马琨，马宏伟，田海波.2-PrRS-PR（P）S并联变胞机构自由度分析与仿真［J］.西安科技大学学报，2019，39（1）：168-174.

MA Kun，MA Hongwei，TIAN Haibo.DOF analysis and simulation of 2-PrRS-PR（P）S parallel metamorphic mechanism［J］.Xi'an University of Science and Technology 2019，39（1）：168-174.

王汝贵，衡东领，孙家兴，等.一种三构态变胞机构设计与分析［J］.广西大学学报（自然科学版），2018，43（3）：861-868.

WANG Rugui，HENG Dongling，SUN Jiaxing，et al.Design and analysis of a three configuration metamorphic mechanism［J］.Journal of Guangxi University（Natural Science Edition），2018，43（3）：861-868.

TANG Z，QI P，DAI J S.Mechanism design of a biomimetic quadruped robot［J］.Industrial Robot，2017，44（4）：512-520.

杨毅，丁希仑，吕胜男，等.基于有限元的平面变胞机构运动学研究［J］.航空学报，2010，31（12）：2425-2434.

YANG Yi，DING Xilun，LÜ Shengnan，et al.Kinematic study of planar metamorphic mechanism based on finite elements［J］.Acta A-eronautica ET Astronautica Sinica，2010，31（12）：2425-2434.

郭正强，潘宇晨，袁雪鹏，等.变拓扑结构船舶焊接机器人机构运动学分析［J］.机械传动，2019，43（4）：74-78.

GUO Zhengqiang，PAN Yuchen，YUAN Xuepeng，et al.Kinematics analysis of ship welding robot with variable topology structure［J］.Journal of Mechanical Transmission，2019，43（4）：74-78.

袁华强.新型可控变胞式码垛机器人机构设计与分析［D］.南宁：广西大学，2014：23-27.

YUAN Huaqiang.The design and analysis of novel controllable m-etamorphic palletizing robt institutions［D］.Nanning：Guangxi University，2014：23-27.

叶桂峰，周伟，王其亮，等.下肢穿戴式助行器：CN204246443U［P］.2015-04-08.

YE Guifeng，ZHOU Wei，WANG Qiliang，et al.Lower limb wearable walking aid：CN204246443U［P］.2015-04-08.

唐宏.关于全向移动可调节式轮椅设计的研究［J］.现代制造技术与装备，2019（7）：108.

TANG Hong.Research on the design of omnidirectional mobile adjustable wheelchair［J］.Modern Manufacturing Technology and Equipment，2019（7）：108.

赵凌燕.人体步态模型实验研究［D］. 哈尔滨：哈尔滨工程大学，2008：63-75.

ZHAO Lingyan.The experiment study on human gait model［D］. Harbin：Harbin Institute of Technology，2008：63-75.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Kinematics and Statics Analysis of Single Drive Multi-mode Metamorphic Manipulators

Structure Design and Kinematic Stability Study of a Forward Ladder Climbing Wheelchair

Design of a Flapping Aircraft with Variable Angles of Attack Based on a RC/RRU Parallel Mechanism

Structural Design and Obstacle-surmounting Performance Research of Wheel-track Hybrid Robots

Design and Motion Analysis of a Transformable Wheeled-Clawed Flexible Mechanism for Robots

Related Author

No data

Related Institution

School of Mechanical Engineering, Tiangong University

Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology, Tiangong University

School of Mechanical and Electrical Engineering, Jiangxi University of Science and Technology

School of Mechanical Engineering, Chongqing University of Technology

School of Health Science and Engineering, University of Shanghai for Science and Technology

⁰