摘要
打结过程绳带拓扑与几何形态控制是新型打结机构研制的关键问题。基于纽结理论Reidemeister基本变换提出交腕结成形绳带的等效操作和成形原理,构建以非完整空心齿轮盘驱动绳带旋转缠绕、弧形立面凸轮支撑绳带、可动支臂夹爪拾取固定绳带的新型打结机构。提出以绳带交叉点与绳带悬链线极值点构造的拓扑与几何形态组合指标,将绳带成结过程划分为4个关键阶段,利用悬链线理论求解各阶段边界瞬态绳带几何形态。实验结果表明,对边界瞬态绳带拓扑与几何形态控制,实现了绳带在新型打结机构成结过程中的形态保持。
The topological and geometric control of the morphology of a rope belt in the knotting process iskeyto the development of a new knotting mechanism.Based on the Reidemeister fundamental transformation of the knot theory,the equivalent operation and formation principles of the rope beltduring the overhand knot forming process are proposed.A new knotting mechanism is built with the non-integral hollow gear disk that drives rope belt winding and the arc facade cam thatsupports the rope belt.The movable arm gripper picks up and fixes the rope belt.The topological and geometric combination index is constructed by using the crosspoints of the rope belt and the extreme points of the catenary,and the knotting process is divided into four key stages.The geometric form of the boundary transient rope belt is solved by using the catenary theory.The experimental results show that the topological and geometriccontrol of the morphology of the boundary transient rope belt is realized and that the shape of the rope belt is maintained in the knotting process of the new knotting mechanism.
作者
陈君荣
杭鲁滨
黄晓波
汪千升
刘子玉
白乐乐
Chen Junrong;Hang Lubin;Huang Xiaobo;Wang Qiansheng;Liu Ziyu;Bai Lele(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《机械科学与技术》
CSCD
北大核心
2020年第12期1937-1943,共7页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51475050)资助。
关键词
纽结理论
交腕结
打结机构
悬链线理论
拓扑与几何形态组合指标
knot theory
overhand knot
knotting mechanism
catenary theory
topological and geometric combination index
作者简介
陈君荣(1996−),硕士研究生,研究方向为机构学与机器人学,ChenJR1310@163.com;通信作者:杭鲁滨,教授,硕士生导师,博士,hanglb@126.com。
