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專業(yè)英語(論文) 英譯漢 課 題 名 稱 機電專業(yè)英語 學 生 姓 名 學 號 10411044 系、年級專業(yè) 10級機電一班 指 導 教 師 2013年 12 月 12日 Design of Structural Mechanisms 結構機制設計 Melinda May A dissertation submitted for the degree of Doctor of Philosophy in the Department of Engineering Science at the University of Oxford St Hugh’s College 牛津大學圣休斯學院工程科學系哲學博士學位論文 Trinity Term 2003 2003年夏季學期 Design of Structural Mechanisms 結構機制設計 Abstract 摘要 A dissertation submitted for the degree of Doctor of Philosophy in the Department of Engineering Science at the University of Oxford St Hugh’s College 牛津大學圣休斯學院工程科學系哲學博士學位論文 Trinity Term 2003 2003年夏季學期 In this dissertation, we explore the possibilities of systematically constructing large structural mechanisms using existing spatial overconstrained linkages with only revolute joints as basic elements. 在這篇論文中，我們探討利用只以旋轉(zhuǎn)接頭為基本元素的現(xiàn)存受空間限制過約束機構來系統(tǒng)地構建大型結構機制的可能性。 The first part of the dissertation is devoted to structural mechanisms (networks) based on the Bennett linkage, a well-known spatial 4R linkage. 該論文的第一部分專注于以貝內(nèi)特機構為基礎的結構機制（網(wǎng)絡），一個眾所周知的空間4R機構。 This special linkage has been used as the basic element.這種特殊的聯(lián)動一直被用來作為基本元素。 A particular layout of the structures has been identified allowing unlimited extension of the network by repeating elements. 一個特定的結構已確定通過重復元素允許的網(wǎng)絡的無限延伸。 As a result, a family of structural mechanisms has been found which form single-layer structural mechanisms. 因此，一個形成單層結構機制的結構機制家庭，已經(jīng)被建立起來。 In general, these structures deploy into profiles of cylindrical surface.一般而言，這些結構被有效利用于圓柱表面的輪廓。 Meanwhile, two special cases of the single-layer structures have been extended to form multi-layer structures. 同時，單層結構的兩種特殊情況已經(jīng)被擴展到形成多層結構。 In addition, according to the mathematical derivation, the problem of connecting two similar Bennett linkages into a mobile structure, which other researchers were unable to solve, has also been solved. 另外，根據(jù)數(shù)學推導，其他研究中沒辦法解決的將兩個相似的貝內(nèi)特聯(lián)動機構為一個移動結構的問題解決了。 A study into the existence of alternative forms of the Bennett linkage has also been done. 一項研究貝內(nèi)特機構的替代形式的存在也被完成。 The condition for the alternative forms to achieve the compact folding and maximum expansion has been derived. 另一種形式實現(xiàn)緊湊的重疊和最大膨脹的情況已經(jīng)出現(xiàn)。 This work has resulted in the creation of the most effective deployable element based on the Bennett linkage. 這項工作已經(jīng)導致了基于貝內(nèi)特機構最有效的可展元素的產(chǎn)物。 A simple method to build the Bennett linkage in its alternative form has been introduced and verified. 一個在它的替代形式上建立貝內(nèi)特機構的簡單的方法已經(jīng)被引進并得到了驗證。 The corresponding networks have been obtained following the similar layout of the original Bennett linkage. 相應的網(wǎng)絡已經(jīng)緊隨著原始的貝內(nèi)特機構的相似布局被建立獲得。 The second effort has been made to construct large overconstrained structural mechanisms using hybrid Bricard linkages as basic elements. 第二種努力已經(jīng)做出，是利用混合六連桿機構作為基本元素倆建立大型過約束結構機制。 The hybrid Bricard linkage is a special case of the Bricard linkage, which is overconstrained and with a single degree of mobility. 混合六連桿機構是六連桿機構一種特殊的情況，這是過約束和有一個流動性的單自由度。 Starting with the derivation of the compatibility condition and the study of its deployment behaviour, it has been found that for some particular twists, the hybrid Bricard linkage can be folded completely into a bundle and deployed to a flat triangular profile. 從相容性條件的推導和它的部屬的行為研究，人們已經(jīng)發(fā)現(xiàn)，對一些特殊的曲折，混合六連桿機構能夠可完全折疊成束并部屬到一個平坦的三角形的輪廓。 Based on this linkage, a network of hybrid Bricard linkages has been produced. Furthermore, in-depth research into the deployment characteristics, including kinematic bifurcation and the alternative forms of the hybrid Bricard linkage, has also been conducted. 基于這種機構，一個混合六連桿機構的網(wǎng)絡已經(jīng)產(chǎn)生了。此外，對部屬的特點進行了深入的研究，包括運動分岔和混合六連桿的替代形式，也已經(jīng)產(chǎn)生了。 The final part of the dissertation is a study into tiling techniques in order to develop a systematic approach for determining the layout of mobile assemblies. 本篇論文的最后一部分是研究拼接技術，以為移動組建布局的確定發(fā)展一個系統(tǒng)的方法。 A general approach to constructing large structural mechanisms has been proposed, which ca n be divided into three steps: selection of suitable tilings, construction of overconstrained units and validation of compatibility. 一個構建大型結構機制的一般方法已經(jīng)被提出來了，這方法能夠分為三步：選擇合適的面磚，建立過約束單元和兼容性的驗證。 This approach has been successfully applied to the construction of the structural mechanisms based on Bennett linkages and hybrid Bricard linkages. 這個方法已經(jīng)被成功地運用于基于貝內(nèi)特機構和混合六連桿機構的結構機制的建立。 Several possible configurations are discussed including those described previously. 幾種可能的結構包括前面描述過的那些結構已經(jīng)被討論了。 All of the novel structural mechanisms presented in this dissertation contain only revolute joints, have a single degree of mobility and are geometricall yoverconstrained. 這篇論文里展示的所有新型的結構機制只包括了旋轉(zhuǎn)接頭，有一個單一的流動性的程度并且在幾何上過約束。 Research work reported in this dissertation could lead to substantial advancement in building large spatial deployable structures. 本文所報道的研究工作能夠引領建設大型空間可展結構中的結構機制。 Keywords: Structural mechanism; deployable structure; 3D overconstrained linkage; network; tiling technique; Bennett linkage; hybrid Bricard linkage; alternative form. 關鍵詞：結構機制; 展開結構; 3D過約束機構; 網(wǎng)絡; 拼接技術；貝內(nèi)特機構; 混合六連桿機構; 替代形式。 Preface The study contained in this dissertation was carried out by the author in the Department of Engineering Science at the University of Oxford during the period from January 2000 to August 2003. 其所載本論文研究是由作者在工程科學系在牛津大學在一月2000to2003年8月期間。 First of all, I would like to thank my supervisor, Dr. Zhong You, for his advice, encouragement and support. He introduced me to the subject of deployable structures. The regular discussion with him has been very beneficial to my research. 首先，我要感謝我的導師，鐘游博士，為他出謀劃策，鼓勵和支持。他向我介紹了部署結構的主體。他經(jīng)常討論一直到我的研究非常有益的。 Appreciation also goes to Prof. Sergio Pellegrino and Dr. Simon Guest at the University of Cambridge, Prof. Eddie Baker at the University of New South Wales of Australia, Prof. Tibor Tarnai at the Budapest University of Technology and Economics of Hungary, and Prof. Yunkang Sui at the Beijing Polytechnic University of China. The advice from them has been invaluable and very helpful to my research 還要感謝教授塞爾吉奧·佩萊格里諾和西蒙游客博士在大學劍橋，埃迪·貝克在澳大利亞的新南威爾士大學教授，中蒂博爾Tarnai在科技和經(jīng)濟的布達佩斯大學教授孕康綏在中國的北京理工大學匈牙利和教授。該建議他們是非常寶貴的，非常有利于我的研究。 I am also grateful to the Workshop in the Department of Engineering Science, in particular, Mr. John Hastings, Mr. Graham Haynes, Mr. Kenneth Howson, and Mr. Maurice Keeble-Smith. Without their great patience and skill, my models would never be as impressive as they are. 我也很感謝在工程科學系，在車間特別是，約翰·黑斯廷斯先生，格雷厄姆海恩斯先生，肯尼斯豪森先生，和先生莫里斯KEEBLE-史密斯。沒有他們的極大的耐心和技巧，我的模型絕對不會是令人印象深刻，因為它們。 Financial aid from the K. C. Wong Foundation, ORS and Zonta International, andconference grants from St Hugh’s College, the Department of Engineering Science and the University of Oxford are gratefully acknowledged. 從王寬誠基金會，口服補液鹽和國際崇她社，andconference從圣休學院，工程科學和牛津大學部補助資金援助深表感謝。 Finally, I would like to thank my parents for their confidence in me, and give special thanks to my husband for all his love, patience and encouragement. 最后，我要感謝我的父母，他們對我的信任，并給予特殊感謝我的丈夫?qū)λ械膼?，耐心和鼓勵? Except for commonly understood and accepted ideas, or where specific reference is made to the work of others, the contents of this report are entirely my original work and do not include any work carried out in collaboration. The contents of this dissertation have not been previously submitted, in part or in whole, to any university or institution for any degree, diploma, or other qualification. 除了普遍理解和接受的觀念，或具體提到了其他人的工作，本報告書的內(nèi)容完全是我的原創(chuàng)作品，不包括在合作開展任何工作。本論文的內(nèi)容沒有被先前提交的部分或全部，以任何一所大學或機構的任何學位，文憑或其他資格。 This dissertation consists of six chapters. 本文共分六章。 Chapter 2 presents a brief review of existing work related to our task, including the definitions and analysis methods for overconstrained linkages, the existing 3D overconstrained linkages, as well as the mathematical tiling technique. 第2章介紹了現(xiàn)有工作的簡要回顧有關我們的任務，包括定義和過約束的聯(lián)系，現(xiàn)有的三維分析方法過約束的聯(lián)系，以及數(shù)學拼接技術。 The reason for including tiling in this review is because it is used later in producing a suitablearrangement of basic linkages in order to build structural mechanisms. 這樣做的原因包括平鋪在本次審查是因為它是在生產(chǎn)的適當使用后基本的聯(lián)系，以建立結構機制安排。 Chapter 3 focuses on the construction of structural mechanisms using the Bennett linkage. First of all, a method to form a network of Bennett linkages is presented. 第3章著重于使用本內(nèi)特結構機制建設聯(lián)動。首先，一種方法，形成貝內(nèi)特聯(lián)系的網(wǎng)絡呈現(xiàn)。 This is followed by the mathematical derivation of the compact folding and maximum expanding conditions, which leads to the discovery of an alternative form of the Bennett linkage. 這其次是緊湊的折疊和最大的數(shù)學推導擴大的條件，這導致的貝內(nèi)特的另一種形式的發(fā)現(xiàn)聯(lián)動。 The alternative is then extended to networks of Bennett linkages, leading to large structural mechanisms which can be compactly folded up. This chapter is ended with further discussion and conclusions. 另一種選擇是，然后擴展到班尼特的聯(lián)系網(wǎng)絡，導致大型結構的機制，可以緊湊地折疊起來。本章結束進一步的討論和結論。 Chapter 4 is devoted to the design of structural mechanisms using the hybrid Bricard linkage. 第4章是使用混合Bricard專門的結構機制的設計聯(lián)動。首先，6R混合聯(lián)動建設過程的基礎上，Bricard連桿，它的基本特征進行了描述。 Firstly, the construction process of a 6R hybrid linkage based on the Bricard linkage and its basic characteristics are described. Secondly, the deployment features and the possibilities to form networks of hybrid Bricard linkage are presented. 其次，部署功能并且，形成的雜種Bricard聯(lián)動網(wǎng)絡的可能性給出。第三，這種聯(lián)系的分岔研究。 Thirdly, the bifurcation of this linkage is studied. Furthermore alternative forms of the hybrid Bricard linkage are discussed. Finally an in-depth discussion ends this chapter. 混合的另外的替代形式Bricard聯(lián)動進行了討論。最后一個深入的討論結束本章。 Chapter 5 deals with the mathematical tiling technique and its application in the construction of structural mechanisms. The networks of Bennett linkages and hybrid Bricard linkages are revisited according to the tiling technique. 第 5 章處理數(shù)學的蓋瓦技術和它的申請在這結構機制的工程。班尼特連合和混血兒的網(wǎng)絡Bricard 連合依照蓋瓦技術被再訪。 The main achievements of the research are summarised in Chapter 6, together with suggestions for future work, which conclude this dissertation. 研究的主要成就在第 6 章被概述, 一起與為總結這一本論文的將來的工作提議。 A linkage is a particular type of mechanism consisting of a number of interconnected components, individually called links. The physical connection between two links is called a joint. 一個連合是一個特別類型的機制有一些互相連接成份，個別地呼叫聯(lián)編。兩個聯(lián)編之間的身體連結是呼叫一個關節(jié)。 All joints of linkages are lower pairs, i.e. surface-contact pairs, which include spherical joints, planar joints, cylindrical joints, revolute joints, prismatic joints, and screw joints. 連合的所有關節(jié)是較低的雙，也就是表面－連絡雙，包括球的關節(jié)、平面的關節(jié)、圓筒形的關節(jié)，再渦形連接，用棱鏡分析的關節(jié)，而且螺絲釘關節(jié)。 Here we limit our attention to linkages whose links form a single loop and are connected only by revolute joints, also called rotary hinges. 在這里我們對聯(lián)編形成一個環(huán)的連合限制我們的注意而且只被再渦形的關節(jié)連接，也呼叫旋轉(zhuǎn)的鉸鏈。 These joints allow one-degree-of-freedom movement between the two links that they connect. The kinematic variable for a revolute joint is the angle measured around the two links that it connects. 這些關節(jié)允許單一程度的－－自由他們連接的這兩個聯(lián)編之間的運動。這給一個再渦形的關節(jié)運動學的變數(shù)是被測量的角度大約這兩個聯(lián)編哪一它連接。