{"title":"通过系统探索 R 关节轴的布局,扩展平面对称 6R 可展开多边形机构系列","authors":"Hao Chen , Weizhong Guo , Zhenghao Weng , Mingxuan Wang , Caizhi Zhou","doi":"10.1016/j.mechmachtheory.2024.105768","DOIUrl":null,"url":null,"abstract":"<div><p>In this paper, the impact of parameter variations on the deployable motion characteristics, mobility, input singularity, and deploying/folding performance of plane-symmetric Bricard mechanisms is studied. Firstly, two classes of revolute pair axes used to construct deployable polygon mechanisms (DGMs) are reviewed, and their value ranges are further refined. Secondly, all possible axes arrangement schemes for plane-symmetric 6R DGMs are presented for the first time. Then, an improved schematic synthesis method is proposed, which can be used to design all plane-symmetric 6R DGMs that belong to the plane-symmetric Bricard mechanisms. Thirdly, the improved design method is applied to create a series of single-degree-of-freedom plane-symmetric 6R DGMs. Then, feasible domain searches are performed, and some of them are prototyped. Subsequently, the input singularity of plane-symmetric 6R DGMs is analyzed. Finally, two deploying/folding performance indices are proposed to evaluate the performance of plane-symmetric 6R DGMs with different fully deployed and fully folded states based on actual application scenarios. This work expands the variety and quantity of DGMs, which will also advance the development of robotics, mechanical metamaterials, and kirigami mechanisms.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"202 ","pages":"Article 105768"},"PeriodicalIF":4.5000,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Expanding the family of plane-symmetric 6R deployable polygon mechanisms by systematically exploring the layout of R-joint axes\",\"authors\":\"Hao Chen , Weizhong Guo , Zhenghao Weng , Mingxuan Wang , Caizhi Zhou\",\"doi\":\"10.1016/j.mechmachtheory.2024.105768\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>In this paper, the impact of parameter variations on the deployable motion characteristics, mobility, input singularity, and deploying/folding performance of plane-symmetric Bricard mechanisms is studied. Firstly, two classes of revolute pair axes used to construct deployable polygon mechanisms (DGMs) are reviewed, and their value ranges are further refined. Secondly, all possible axes arrangement schemes for plane-symmetric 6R DGMs are presented for the first time. Then, an improved schematic synthesis method is proposed, which can be used to design all plane-symmetric 6R DGMs that belong to the plane-symmetric Bricard mechanisms. Thirdly, the improved design method is applied to create a series of single-degree-of-freedom plane-symmetric 6R DGMs. Then, feasible domain searches are performed, and some of them are prototyped. Subsequently, the input singularity of plane-symmetric 6R DGMs is analyzed. Finally, two deploying/folding performance indices are proposed to evaluate the performance of plane-symmetric 6R DGMs with different fully deployed and fully folded states based on actual application scenarios. This work expands the variety and quantity of DGMs, which will also advance the development of robotics, mechanical metamaterials, and kirigami mechanisms.</p></div>\",\"PeriodicalId\":49845,\"journal\":{\"name\":\"Mechanism and Machine Theory\",\"volume\":\"202 \",\"pages\":\"Article 105768\"},\"PeriodicalIF\":4.5000,\"publicationDate\":\"2024-08-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechanism and Machine Theory\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0094114X24001952\",\"RegionNum\":1,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanism and Machine Theory","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094114X24001952","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
Expanding the family of plane-symmetric 6R deployable polygon mechanisms by systematically exploring the layout of R-joint axes
In this paper, the impact of parameter variations on the deployable motion characteristics, mobility, input singularity, and deploying/folding performance of plane-symmetric Bricard mechanisms is studied. Firstly, two classes of revolute pair axes used to construct deployable polygon mechanisms (DGMs) are reviewed, and their value ranges are further refined. Secondly, all possible axes arrangement schemes for plane-symmetric 6R DGMs are presented for the first time. Then, an improved schematic synthesis method is proposed, which can be used to design all plane-symmetric 6R DGMs that belong to the plane-symmetric Bricard mechanisms. Thirdly, the improved design method is applied to create a series of single-degree-of-freedom plane-symmetric 6R DGMs. Then, feasible domain searches are performed, and some of them are prototyped. Subsequently, the input singularity of plane-symmetric 6R DGMs is analyzed. Finally, two deploying/folding performance indices are proposed to evaluate the performance of plane-symmetric 6R DGMs with different fully deployed and fully folded states based on actual application scenarios. This work expands the variety and quantity of DGMs, which will also advance the development of robotics, mechanical metamaterials, and kirigami mechanisms.
期刊介绍:
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry