Design And Application Of Reconfigurable Elements Combined Scaling Mechanisms

The reconfigurable elements combined scaling mechanisms not only have excellent extension and contraction performance,but also have the reconfigurable characteristics of switching motion modes,which can adapt to more complex application environments and meet more diverse application requirements.Under the background of the rapid development of aerospace,industrial production,engineering construction and other fields,the strong application ability has been demonstrated,so it has important theoretical and practical significance to carry out research on the reconfigurable elements combined scaling mechanisms.First,the combined construction conditions of concentric scaling of paired generalized angulated elements are analyzed and deduced,and the construction method of the double generalized angulated elements is given.By introducing platforms at the hinge points of the double generalized angulated elements and constraining the members to develop their reconfigurable properties,two generalized reconfigurable scaling elements are proposed,namely the first type and the second type of reconfigurable double generalized angulated elements.The reconfigurable characteristics of the generalized reconfigurable scaling elements for switching between the scissor motion mode and the PR motion mode are analyzed,and the kinematics analysis of the generalized reconfigurable scaling elements is carried out in the two motion modes respectively.Secondly,the configuration of the basic scaling elements is innovatively designed,and a derivative design method of the generalized reconfigurable scaling elements is proposed.The reconfigurable double angulated-straight elements are constructed based on the first type of reconfigurable double generalized angulated elements to convert part of the angulated rods into straight rods.Based on the second type of reconfigurable double generalized angulated elements,the reconfigurable double straight elements are constructed by converting all angulated rods into straight rods.The reconfigurable and kinematic properties of two types of derived reconfigurable scaling elements are analyzed,and the systematic design and analysis theory of reconfigurable scaling elements is formed.Finally,based on the geometric features of the polyhedrons and their parameters,the reconfigurable scaling elements are designed and combined,and the construction method of the reconfigurable polyhedral scaling mechanisms is proposed.By arranging reconfigurable scaling elements at the polyhedral feature positions,the reconfigurable Platonic polyhedral scaling mechanisms are constructed based on the first type of generalized and derived reconfigurable scaling elements,and the reconfigurable Archimedes polyhedral scaling mechanisms are constructed based on the second type of generalized and derived reconfigurable scaling elements.The reconfigurable and kinematic properties of the reconfigurable polyhedral scaling mechanisms are analyzed,and the scaling ratio is calculated according to the envelope size of the circumscribed sphere.The application schemes of the reconfigurable polyhedral scaling mechanisms are given through the design examples.The design,construction and analysis method of the reconfigurable elements combined scaling mechanisms and their application schemes are systematically proposed,which provides theoretical basis and application reference for the research on the reconfigurable scaling mechanisms.