Volume 37, Number 6, December 2019
|Page(s)||1200 - 1208|
|Published online||11 February 2020|
Research on Displacement Mode and Path Tracking Method of Square Combined Deployable Mechanism
School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China
The motion path of the developable mechanism can not only grasp whether the mechanism can move according to the expected law, but also provide theoretical support for motion control. In order to accurately study the kinematics of the square combined mechanism, the mobility of the square combined expandable mechanism is analyzed based on the screw theory and the graph theory. Then, the balance matrix of the square combined expandable mechanism is derived, and the displacement mode of the square combined expandable mechanism is obtained through singular value decomposition. Secondly, the path tracking method of the square combined expandable mechanism is established by the iteration of the displacement mode. Finally, by means of the example analysis, the position of the bifurcation point of the square combined expandable mechanism is determined; the variation law of the bifurcation point and its positive correlation with the singular value of the balance matrix is analyzed. It is found that adding additional constraints and planning a reasonable path can avoid bifurcation phenomenon. This research provides necessary reference data for configuration design and parameter optimization of the square combined expandable mechanism.
Key words: square combined deployable mechanism / screw theory / mobility / balance matrix / displacement mode / path tracking / kinematics / singular value decomposition / bifurcation
关键字 : 正方形组合可展结构 / 螺旋理论 / 可动性 / 平衡矩阵 / 位移模态 / 路径跟踪 / 运动学 / 奇异值分解 / 分岔
© 2019 Journal of Northwestern Polytechnical University. All rights reserved.
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