Design method of compliant variable-diameter mechanism for diameter-variable wheels

A design method and variable technology, applied in computing, special data processing applications, instruments, etc., can solve the problems that there is no system design method, hindering the application and promotion of variable diameter wheels, and achieve high practical value and optimal design Effect

Active Publication Date: 2017-10-27
BEIHANG UNIV
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Problems solved by technology

For example, the invention patent application with the publication number CN101503044 discloses a mechanical-hydraulic linkage variable-diameter wheel frame suitable for variable-diameter wheels. However, there is no systematic and s

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  • Design method of compliant variable-diameter mechanism for diameter-variable wheels
  • Design method of compliant variable-diameter mechanism for diameter-variable wheels
  • Design method of compliant variable-diameter mechanism for diameter-variable wheels

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[0042] In order to better understand the present invention, the following is a further description with examples:

[0043] The design method of a flexible diameter reducing mechanism for a variable diameter wheel of the present invention, and its operation process is as follows figure 1 As shown, including the following steps:

[0044] Step 1: Determine the design variables of the reducing mechanism and the geometric relationship between them;

[0045] Sub-step 1: Assuming that the wheel legs can maintain structural stability during the diameter reduction process (the spokes maintain an isosceles trapezoid shape), such as Figure 2a , B, Figure 3a As shown in b, according to the geometric relationship between the two extreme positions of the variable-diameter wheel opening and closing, the projections in the horizontal direction are equal to:

[0046]

[0047]

[0048] Substep 2: Subtract formula (1) and formula (2) to obtain:

[0049]

[0050] Then the length of the spoke connecting ...

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Abstract

The invention discloses a design method of a compliant variable-diameter mechanism for diameter-variable wheels, and belongs to the field of mechanism design. The design method is characterized by comprising the following steps of: (1) determining variable-diameter mechanism design variables and a motion geometric relationship among the variable-diameter mechanism design variables; (2) determining constraint conditions of the variable-diameter mechanism design variables; (3) determining a variable-diameter mechanism design target and establishing an optimization mathematical model thereof; and (4) solving a constraint nonlinear planning problem by adoption of an interior point method, so as to obtain mechanism dimension parameters. The design method has the beneficial effects of carrying out optimization design on dimension parameters of the compliant variable-diameter mechanism according to requirements, for opening and closing positions, of the diameter-variable wheels, so as to realize the wheel diameter change of the diameter-variable wheels; a motion geometric relationship equation utilizing the method can provide theoretical basis for the control of wheel diameter change of the diameter-variable wheels; and the method has the effects of shortening the research and development period of the mechanism, reducing the design and manufacture cost and having a relatively high practical value.

Description

technical field [0001] The invention relates to a design method of a variable-diameter wheel compliance variable-diameter mechanism, which belongs to the field of mechanism design. Background technique [0002] The compliant diameter-changing mechanism is mainly to realize the diameter change of the variable-diameter wheel. At present, this mechanism is applied to a new variable-diameter wheel of a lunar rover and a new variable-diameter wheel of a multi-habitation mobile platform. Since the compliant variable diameter mechanism mainly relies on the deformation of the compliant hinge to generate motion, problems such as wear, lubrication, and sealing can be avoided, and the structure is light and compact. For example, the invention patent application with the publication number CN101503044 discloses a mechanical-hydraulic linkage variable-diameter wheel frame suitable for variable-diameter wheels. However, there is no systematic and scientific design method for this variable...

Claims

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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/17
Inventor 高峰曾文姜惠刘本勇张彬
Owner BEIHANG UNIV
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