一种新型平面一空间多面体可重构变胞机构的设计与分析

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Taking the octahedron for example, a novel plan-space polyhedral metamorphic mechanism is abstracted based on the metamorphic mechanism concepts and the edge forming principle of polyhedral packaging carton by making each edges and each corner of the polyhedron equivalent to the links and hinges of the novel mechanism. The mobility conditions of the novel plan-space polyhedral metamorphic mechanism are analyzed, and the connection and movement relationship between the links of the novel mechanism are analyzed by using the adjacent matrix and the screw theory. A novel plan-space polyhedral metamorphic mechanism with the reconfigurable function is designed based on the reconfigurable theory. The novel mechanism not only can achieve the structural transformation between plane topology and space topology, but also can obtain different sizes and different shapes polyhedron configuration. The novel plan-space polyhedral reconfigurable metamorphic mechanism can be used as skeleton or actuator of machine and used in packaging robots, aerospace and other industrial applications.基于变胞机构的概念，结合多面体包装纸盒棱边成形原理，将多面体各棱边等效为杆件，各项角等效为铰链，并以八面体为例，抽象出一种新型平面．空间多面体变胞机构，分析该机构可动条件，应用邻接矩阵及旋量理论分析该机构各构件间的连接与运动关系，并基于可重构理论，演化设计出具有可重构功能的平面．空间多面体变胞机构。所设计的新型机构既能够实现平面拓扑与空间多面体拓扑结构间变换，又可生成不同尺寸与不同形状的多面体构型，可作为机器的骨架或执行器应用于包装机器人、航空航天及其他工业应用领域。