Developable mechanisms on developable surfaces
Developable mechanisms on developable surfaces
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DOI：
10.1126/scirobotics.aau5171
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发表时间：
2019-02-13
期刊：
影响因子：
25
通讯作者：
Howell, Larry L.
中科院分区：
文献类型：
--
作者：
Nelson, Todd G.;Zimmerman, Trent K.;Howell, Larry L.
在保持执行复杂任务的能力的同时，朝着更小的机构足迹和体积的趋势，为探索与曲面集成的超紧凑机械系统提供了机会。可展曲面是指平板在不撕裂或拉伸的情况下可以呈现的形状，它们代表了广泛的制造曲面。这项工作介绍了“可展机制”的设备出现或符合可展表面。它们可以通过将铰链轴与可展表面划线对齐来实现移动性。由于刚性连杆运动取决于铰链轴的相对方向，而不是连杆几何形状，因此连杆可以采用相应可展曲面的形状。机构按其相关曲面类型分类，并定义了这些关系，并通过实例进行了说明。可发展的机制显示出使用以前没有设想到的系统来满足未满足的需求的希望。
The trend toward smaller mechanism footprints and volumes, while maintaining the ability to perform complex tasks, presents the opportunity for exploration of hypercompact mechanical systems integrated with curved surfaces. Developable surfaces are shapes that a flat sheet can take without tearing or stretching, and they represent a wide range of manufactured surfaces. This work introduces "developable mechanisms" as devices that emerge from or conform to developable surfaces. They are made possible by aligning hinge axes with developable surface ruling lines to enable mobility. Because rigid-link motion depends on the relative orientation of hinge axes and not link geometry, links can take the shape of the corresponding developable surface. Mechanisms are classified by their associated surface type, and these relationships are defined and demonstrated by example. Developable mechanisms show promise for meeting unfilled needs using systems not previously envisioned.