文献类型：期刊文献

英文题名：The Design of a Bionic Duck Foot Based on a 6R Deployable Polygonal Mechanism

作者：Weng, Zhenghao[1];Chen, Hao[1];Guo, Weizhong[1];Xv, Yicheng[1];Kang, Shuhao[1];Ji, Xinyun[2,3]

机构：[1]Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China;[2]East China Univ Sci & Technol, Sch Foreign Languages, Shanghai 201424, Peoples R China;[3]Univ Manchester, Sch Arts Languages & Cultures, Manchester M13 9PL, England

年份：2026

卷号：148

期号：4

外文期刊名：JOURNAL OF MECHANICAL DESIGN

收录：;EI(收录号：20254319382954);WOS:【SCI-EXPANDED(收录号:WOS:001711939700010)】；

基金：The authors gratefully acknowledge the financial support from the State Key Lab of Mechanical System and Vibration Project (Grant No. SVZD202008).

语种：英文

外文关键词：deployable polygon mechanism; bio-inspired design; kinematics; mechanism synthesis

摘要：In this article, a biomimetic 6R deployable polygonal mechanism (DGM) according to the morphological characteristics of a duck's webbed foot is presented. First, based on the biological morphology of a duck's foot, a composite mechanism consisting of two plane-symmetric 6R DGMs was designed. The lengths of the links in a single 6R DGM and the angles between adjacent links when fully expanded into a planar state were determined. Second, seven different axial configuration schemes were proposed to allow the 6R DGM to achieve the same fully expanded state. The corresponding coordinate system for each configuration scheme was established, and homogeneous coordinate transformation methods were utilized. This made it possible to design the torsion angle parameters at the joints of each link, enabling the assembly of the two symmetric 6R DGMs at specific dihedral angles. Third, to ensure that the physical model of the mechanism can fold and unfold smoothly, the cross section of each link was designed with an axisymmetric octagonal configuration. This design prevents any interference between the links during the folding and unfolding process. Additionally, appropriate constraints were introduced to make sure the mechanism is of a single degree of freedom, guaranteeing the uniqueness of motion under simple driving conditions. Finally, on the basis of the theoretical analysis and optimization design, a physical model was constructed, and its folding and unfolding performance was systematically tested through experiments.