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  • 【期刊】 基于分形理论的混联机器人构型设计方法

    刊名:东华大学学报:自然科学版 作者:葛姝翌[1] ; 曹毅[1,2,3,4] ; 丁泽华[1] ; 周睿[1] ; 朱景原[1] 关键词:混联机器人构型 机构拓扑图 分形理论 路径法则 二进制代码 机构:江南大学机械工程学院 ; 江南大学机械工程学院 年份:2017
    摘要:为综合得到混联机器人构型,基于分形理论提出了一种新的混联机器人机构构型设计方法,其能够有效地解决多路径横向非典型混联机构构型的设计问题.首先,阐述了机构拓扑图和分形理论的概念;其次,建立了运动副及其空间方位关系的二进制码,规定了为求解机构拓扑图的路径法则和用以推导运动副的输出位移子集的串并联计算法则;然后,根据分形理论推导出分形后的机构拓扑图,并适配运动副从而获得混联机器人机构的整体构型;最后,根据该构型设计方法,实现了2T1R三自由度混联机构的构型设计,并对综合后的混联机器人机构进行分析,验证了该构型设计方法的可行性.
  • 【期刊】 利用分形理论的3T1R混联机构型综合

    刊名:西安交通大学学报 作者:葛姝翌[1,4] ; 曹毅[1,2,3,4] ; 丁泽华[1,4] ; 刘凯[1,4] ; 丁锐[1,4] 关键词:混联机构 构型综合 分形理论 三移动一转动 机构:江南大学机械工程学院 ; 江南大学机械工程学院 ; 江南大学江苏省食品先进制造装备技术重点实验室 年份:2016
    摘要:为综合得到三移动一转动(3T1R)混联机构,利用分形理论和机构拓扑图,提出了一种全新有效的混联机构型综合方法,主要思想是将混联构型转化为连杆机构,机构拓扑图作为连杆机构的主体,运动副作为杆件的组成元素。根据分形理论,对机构拓扑图进行有序分形,并通过输出位移子集的排列组合和适配运动副,实现了混联机构构型的多样化。提出了可用于求解复杂机构拓扑图的多路径输出的路径法则,并且规定了用于推导运动副位移子集的串并联计算方法。根据机构拓扑图和分形方式,将混联机构按有、无横向支链分为2种类型。建立了分形与混联机构的关系模型,在数理逻辑关系上使机构设计与分形理论得到了统一。采用Matlab编程的形式综合出了3T1R四自由度混联机构,实现了其中一个混联机构的构型设计,并验证了构型设计方法的正确性。
  • 【期刊】 Structural Synthesis of 2T3R Hybrid Kinematic Mechanism Based on G_F Set

    刊名:东华大学学报:英文版 作者:曹毅[1,2,3,4] ; 秦友蕾[1] ; 王见[1] ; 刘俊辰[1] ; 王琨[1,4] 关键词:kinematic rotation translational serial freedom effector prerequisite robot intersection unified 机构:School ; School ; Mechanical ; Engineering ; Jiangnan ; University ; China ; Laboratory ; System ; Control ; Information ; Processing ; Shanghai ; China ; State ; Laboratory ; Mechanical ; System ; Vibration ; Shanghai ; China ; Jiangsu ; Laboratory ; Advanced ; Manufacturing ; Equipment ; Technology ; China 年份:2017
    摘要:The structural synthesis of mechanisms is a prerequisite of mechanical design. Thereby, it is necessary to address special attention to the structural synthesis of mechanisms,especially for the structural synthesis of hybrid kinematic mechanisms( HKMs). This paper presents a very simple yet very effective method of structural synthesis for HKM based on the set theory. The basic concept and mathematical operation of Generalized Function Set( G_F set) are firstly introduced. Based on G_F set,a type synthesis principle for serial mechanisms,parallel mechanisms and HKMs is presented,respectively. Especially,a detailed algorithm of type synthesis for HKM is proposed as well. It is shown that type synthesis of HKM can be developed by the combination of elements of G_F setand rotation axis transfer theorem. In order to demonstrate the applicability of the type synthesis principle presented in the paper,structure synthesis of 2T3 R HKMs are accomplished,where T and R denote translational and rotational degree-of-freedom( DoF),respectively. And further research shows that the structures of 2T3 R HKMs can be categorized into two types,i. e.,G(_F~Ⅰ) and G(_F~Ⅱ).
  • 【期刊】 Type Synthesis of Fully-Decoupled 3R2T Parallel Mechanisms Based on Driven-Chain Principle

    刊名:东华大学学报:英文版 作者:周辉[1,2] ; 陈海[1,2] ; 秦友蕾[1,2] ; 葛姝翌[1,2] ; 曹毅[1,2,3,4] 关键词:desired kinematic decoupling inverse translational matrices topology Jacobian reciprocal rotation 机构:School ; School ; Mechanical ; Engineering ; Jiangnan ; University ; China ; Jiangsu ; Laboratory ; Advanced ; Manufacturing ; Equipment ; Technology ; China 年份:2017
    摘要:To avoid the existence of nonlinear and strong coupling in parallel mechanisms,it is necessary to address special care to the type synthesis of mechanisms,especially for the type synthesis of fully-decoupled parallel mechanisms. Based on the screw theory and the driven-chain principle,a methodology of structural synthesis for fully-decoupled three-rotational( 3R) and two-translational( 2T)parallel mechanisms was proposed by analyzing the characteristics of the input-output relations for fully-decoupled parallel mechanisms.Firstly,according to the desired kinematic characteristics of fullydecoupled parallel mechanisms,a method was presented by virtue of screw theory to synthesize the desired forms for both the direct and the inverse Jacobian matrices. Secondly,according to the feature of the direct and the inverse Jacobian matrices,the effective screws,the actuated screws and the mobile un-actuated screws of each leg were established based on the reciprocal screw theory and all possible topology structures fulfilling the requirements were obtained.Finally,the desired fully-decoupled parallel mechanisms could be synthesized by using the structural synthesis rule and structural synthesis of fully-decoupled 3R2 T parallel mechanisms could be obtained exploiting the abovementioned methodology. Furthermore,the Jacobian matrix of a synthesized 3R2 T parallel mechanism was deduced to demonstrate the decoupling feature of the parallel mechanism,which also validated the correctness of the methodology of the type synthesis for fully-decoupled 3R2 T parallel mechanisms.