低副机构的一种平面五级组运动分析

韩林; 廖启征; 梁崇高

低副机构的一种平面五级组运动分析

1.
北京航空航天大学机电工程系
2. 北京邮电大学机电工程系

基金项目: 国家自然科学基金(59475006)、国家攀登计划资助项目

详细信息

中图分类号: TH 112.1
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- 文章访问数: 2720
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- 被引次数: 0
出版历程
- 收稿日期: 1997-07-16
- 网络出版日期: 1998-05-31

Closed-Form Displacement Analysis of a Planar Fifth-Class Group with Lower Pairs

1.
Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electronical Engineering
2. Beijing University of Posts Telecommunications,Dept. of Mechanical and Electronic Engineering

摘要

摘要: 采用复数与矢量结合的方法,对低副机构中一种8杆12副的平面五级组运动分析问题进行了求解.首先根据不同的环路列出矢量方程,然后将方程转化成复数形式,经过代数消元后得到了输入输出方程.对次数的判定后证明方程的解为42个,即该平面五级组可以有42种构型.最后对一个实例进行了计算,给出了4组实根值.推导过程中的符号运算采用计算机代数系统"Mathematica".
- 平面机构 /
- 运动学 /
- 机构运动分析
Abstract: The closed-form displacement analysis of one kind of planar fifth-class groups with 8 links and 12 lower pairs is solved by the method of combining vector with complex number. First, the vector equations are established according to different loops. Then the equations are changed into the form of complex number. The problem is reduced to a single unknown equation after algebraic elimination. The input-output equation, which is proved to be a 42th degree polynomial equation, is obtained. It shows that this construction of fifth-class group has 42 structures. Last, a numerical example is studied. Four real roots are listed. The symbolic computation is carried out by computer algebra system Mathematica.
- plane mechanisms /
- kinematics /
- kinematic analysis of mechanisms

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参考文献(1)

1. 曹惟庆. 机构组成原理. 北京:高等教育出版社,1983 2. 白师贤. 高等机构学. 上海:上海科学技术出版社,1988 3. 楼鸿棣,邹慧君. 高等机械原理. 北京:高等教育出版社,1990 4. Liand S, Matthew G K. Closed form kinematic analysis of planar assur Ⅱ groups. In:Bautista E, ed. The theory of machines and mechanisms Proceedings of the 7th World Congress, Spain, Sevilla:Copyright-Pdrgamon Books Ltd, 1987. 141~145 5. Radcliffe C W, Zlokolica M Z, Cveticanin L. Kinematic analysis of Assur groups of the third class by numerical solution of contraint equations. In:Bautista E, ed. The theory of machines and mechanisms Proceedings of the 7th World Congress, Spain, Sevilla:Copyright-Pdrgamon Books Ltd, 1987. 169~172 6. Gosslin C M, Merlet J P.The direct kinematics of planar parallel manipulators:special architectures and number of solution. MMT, 1994, 29(8):1083~1098

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