北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (3): 645-652.doi: 10.13700/j.bh.1001-5965.2017.0151

• 论文 • 上一篇    

一种带移动副平面六连杆机构分支识别方法

龚雅静1, 王君1, 汪泉1, 毕树生2, 任军1, 孙金风1   

  1. 1. 湖北工业大学机械工程学院, 武汉 430068;
    2. 北京航空航天大学机械工程及自动化学院, 北京 100083
  • 收稿日期:2017-03-14 出版日期:2018-03-20 发布日期:2017-06-27
  • 通讯作者: 王君 E-mail:junwang@mail.hbut.edu.cn
  • 作者简介:龚雅静,女,硕士研究生。主要研究方向:机构学及机器人技术;王君,男,博士,教授,硕士生导师。主要研究方向:机构学、机器人学、先进制造技术与装备。
  • 基金资助:
    国家自然科学基金(51405140,51675015);湖北省自然科学基金(2015CFA112);湖北省高等学校优秀中青年科技创新团队计划(T201505)

A method for branch identification of planar six-bar linkages with sliding pairs

GONG Yajing1, WANG Jun1, WANG Quan1, BI Shusheng2, REN Jun1, SUN Jinfeng1   

  1. 1. School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China;
    2. School of Mechanical Engineering & Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2017-03-14 Online:2018-03-20 Published:2017-06-27
  • Supported by:
    National Natural Science Foundation of China (51405140,51675015); Hubei Provincial Natural Science Foundation of Chi-na (2015 CFA112); Outstanding Young Science and Technology Innovation Team Project of Hubei Provincial Department of Education (T201505)

摘要: 带移动副平面六连杆机构的分支、运动缺陷、运动范围等的判别是机构运动特性研究的重要指标。首先,将带2个移动副或3个移动副的平面六连杆机构分为四环链及五环链,引入欧拉公式、三角换元等方法,得到带移动副机构在极限位置(包括死点、分支点)的具体构型、具体关节输入输出关系以及关节旋转空间。其次,将2个链路结合,提出带2个移动副及3个移动副平面六连杆机构的分支识别方法。最后,通过实例验证,得到机构的分支点、死点及关节在所有极限位置的具体角度,为带移动副机构分支的自动识别提供了一种简便有效的方法。

关键词: 移动副, 平面六连杆机构, 极限位置, 分支, 关节旋转空间

Abstract: The identification of branch, motion defect and range of motion of the planar six-bar linkages with sliding pairs is an important indicator for motion characteristics of linkages. Firstly, this paper divides the planar six-bar linkages with two sliding pairs or three sliding pairs into four-bar chain or five-bar chain. B-ring in Euler's formula and trigonometric substitution method, the specific configurations (including branch points and dead points) of the planar linkages with sliding pairs in their limit positions, input and output relationship and joint rotation space are obtained. Secondly, this paper combines two chains and proposes a method for the branch identification of planar six-bar linkages with two or three sliding pairs. Finally, this paper verifies the proposed method with examples of planar six-bar linkages with two and three sliding pairs. The branches, dead points and the specific angles of joints in limit positions of the two mechanisms are calculated. The proposed method gives a convenient and effective way for the automatic branch identification of planar linkages with sliding pairs.

Key words: sliding pairs, planar six-bar linkages, limit position, branch, joint rotation space

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发