含耦合支链的多层多环空间机构的构型综合理论研究

The development of mechanical equipment with proprietary intellectual property rights is the fundamental guarantee for our country to transform from ‘Made in China’ to ‘Invented in China’. Creation of mechanisms is the key of the innovation of mechanical equipment. Multi-layer and multi-loop spatial mechanisms with coupling chains are even more complex than spatial parallel mechanisms, and there have not been a systematic theory of type synthesis for the class of mechanisms up to now. . The project intends to found a theory of type synthesis of multi-layer and multi-loop spatial mechanisms with coupling chains, which can realize structural creation of the class of mechanisms and lay a important foundation for analysis and assessment of kinematic and dynamic performance, First, the principle of structural decomposition of the class of mechanisms is investigated through separation of couplings layer by layer, and the mathematic model of coupling relations of coupling chains is further established. Then, the principle of mobility analysis of the class of mechanisms and the method for rigid substructure detection are studied. Finally, a new method is presented to systematically synthesize the class of mechanisms. Based on desired tasks in industry, some new mechanisms with good application prospects are invented for multi-DOF complex mechanical equipment.. The study of the project will promote the progress of mechanisms theory for complex spatial mechanism. It will also provide a theoretical support for the development of multi-DOF complex mechanical equipment with proprietary intellectual property rights.

具有自主知识产权的机械装备是实现从“中国制造”走向“中国创造”的根本保障。机构创新是机械装备创新的关键。含耦合支链的多层多环空间机构是比空间并联机构更加复杂的机构类型，到目前为止，还缺乏系统的理论对这类机构进行创新设计。. 本项目拟建立含耦合支链的多层多环空间机构的构型综合理论，实现这类机构的构型创新，为这类机构后续的运动性能与力学性能分析与评价奠定基础。首先，通过耦合关系的逐层分离来建立这类机构的结构分解原理，并建立耦合支链带来的耦合关系数学模型。然后，研究含耦合支链的多层多环空间机构的自由度分析原理及刚性子结构判别方法。最后，研究含耦合支链的多层多环空间机构的构型综合方法，针对工业生产中的任务需求，发明具有较好应用前景的多自由度复杂机械装备新机型。. 本项目的研究将促进复杂空间机构的机构学理论发展，为研制具有自主知识产权的多自由度复杂机械装备提供理论支持。

本项目在含耦合支链的多层多环耦合空间机构的构型综合方面取得了重要进展。我们深入分析论证了构建伞状可展机构的两层两环可展单元应满足的结构特征，开发了大量新型空间两层两环可展单元，研究了这类些可展单元的可动装配方式，建立了伞状可展机构的自由度分析原理，进一步构建了大量新型多环耦合伞状可展机构。这个工作改变了之前只有少数几种空间可展连杆单元的局面, 也该变了之前只有少数几种伞状可展机构的局面。. 我们发现过约束并联机构的刚度建模和受力分析方法很不成熟。基于卡氏第二定理，我们提出了过约束并联机构刚度建模的应变能法。该方法计算简单，具有很高的计算精度。我们通过应变能法建立用分支刚度模型，基点法建立变形协调方程，进一步结合动平台的静平衡方程，很好地解决了过约束并联机构的静不定问题，实现了所有关节反力的求解。