机械工程学报 ›› 2020, Vol. 56 ›› Issue (19): 14-27.doi: 10.3901/JME.2020.19.014
• 特邀专栏:纪念张启先院士诞辰95周年 • 上一篇 下一篇
于靖军1, 刘凯1, 孔宪文2
收稿日期:
2020-04-17
修回日期:
2020-06-18
出版日期:
2020-10-05
发布日期:
2020-11-17
作者简介:
于靖军,男,1974年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学、精密机械设计等。E-mail:jjyu@buaa.edu.cn;刘凯,男,1991年出生,博士研究生。主要研究方向为机器人机构学。E-mail:kailiu10@163.com;孔宪文,男,1969年出生,博士,副教授,博士研究生导师。主要研究方向为机器人机构学。E-mail:x.kong@hw.ac.uk
基金资助:
YU Jingjun1, LIU Kai1, KONG Xianwen2
Received:
2020-04-17
Revised:
2020-06-18
Online:
2020-10-05
Published:
2020-11-17
摘要: 多模式机构作为可重构机构的一个重要分支具备运动模式转换时间短、所需驱动器少等优点,在各个领域都极具应用前景。经过20年的发展,虽然涌现出一系列多模式机构的设计、分析方法,但是多模式机构的研究仍面临诸多挑战。根据不同运动模式下的几何、结构特征,概括并详述了多模式机构利用关节轴线、杆件和多模式单元进行运动模式切换的三种形式;从方法和技术的角度,综述了多模式机构在构型设计、运动模式分析以及应用方面的国内外研究现状,并对多模式机构面临的挑战与发展趋势进行了展望。
中图分类号:
于靖军, 刘凯, 孔宪文. 多模式机构研究进展[J]. 机械工程学报, 2020, 56(19): 14-27.
YU Jingjun, LIU Kai, KONG Xianwen. State of the Art of Multi-mode Mechanisms[J]. Journal of Mechanical Engineering, 2020, 56(19): 14-27.
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