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一种带移动副平面六连杆机构分支识别方法

龚雅静 王君 汪泉 毕树生 任军 孙金风

龚雅静, 王君, 汪泉, 等 . 一种带移动副平面六连杆机构分支识别方法[J]. 北京航空航天大学学报, 2018, 44(3): 645-652. doi: 10.13700/j.bh.1001-5965.2017.0151
引用本文: 龚雅静, 王君, 汪泉, 等 . 一种带移动副平面六连杆机构分支识别方法[J]. 北京航空航天大学学报, 2018, 44(3): 645-652. doi: 10.13700/j.bh.1001-5965.2017.0151
GONG Yajing, WANG Jun, WANG Quan, et al. A method for branch identification of planar six-bar linkages with sliding pairs[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(3): 645-652. doi: 10.13700/j.bh.1001-5965.2017.0151(in Chinese)
Citation: GONG Yajing, WANG Jun, WANG Quan, et al. A method for branch identification of planar six-bar linkages with sliding pairs[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(3): 645-652. doi: 10.13700/j.bh.1001-5965.2017.0151(in Chinese)

一种带移动副平面六连杆机构分支识别方法

doi: 10.13700/j.bh.1001-5965.2017.0151
基金项目: 

国家自然科学基金 51405140

国家自然科学基金 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

详细信息
    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

    通讯作者:

    王君, E-mail: junwang@mail.hbut.edu.cn

  • 中图分类号: TH112.1

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

Funds: 

National Natural Science Foundation of China 51405140

National Natural Science Foundation of China 51675015

Hubei Provincial Natural Science Foundation of China 2015CFA112

Outstanding Young Science and Technology Innovation Team Project of Hubei Provincial Department of Education T201505

More Information
  • 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。

     

  • 图 1  带2个移动副平面六连杆机构

    Figure 1.  Planar six-bar linkage with two sliding pairs

    图 2  带3个移动副平面六连杆机构

    Figure 2.  Planar six-bar linkage with three sliding pairs

    图 3  AB杆处于极限位置的2种构型

    Figure 3.  Two configurations of AB bar in limit positions

    图 4  EF杆处于极限位置的2种构型

    Figure 4.  Two configurations of EF bar in limit positions

    图 5  带2个移动副平面六连杆机构分支识别流程

    Figure 5.  Flowchart of branch identification of planar six-bar linkage with two sliding pairs

    图 6  带2个移动副平面六连杆机构分支曲线

    Figure 6.  Curve of branches of planar six-bar linkage with two sliding pairs

    图 7  带2个移动副平面六连杆机构实例的分支曲线

    Figure 7.  Curve of branches of planar six-bar linkage with two sliding pairs

    图 8  带2个移动副平面六连杆机构Δ4θ2变化曲线

    Figure 8.  Change of Δ4 with θ2 for planar six-bar linkage with two sliding pairs

    表  1  带2个移动副平面六连杆机构参数

    Table  1.   Parameters of planar six-bar linkage with two sliding pairs

    参数 数值
    a1 2.4
    a2 5.5
    a3 4.8
    a4 4.2
    a5 2.5
    a7 2.4
    β/(°) 45
    α1/(°) 30
    α2/(°) 50
    下载: 导出CSV

    表  2  带2个移动副平面六连杆机构的分支点

    Table  2.   Branch points of planar six-bar linkage with two sliding pairs

    分支点 θ2/(°) θ3/(°) θ4/(°) θ5/(°)
    1 -161.4 -28.6 16.4 120
    2 -141.6 -92.2 -47.2 -60
    3 -105.5 55.3 100.3 120
    4 -15.6 91.3 136.3 120
    5 7.9 -152.7 -107.7 -60
    6 72.6 -74.6 -29.6 120
    下载: 导出CSV

    表  3  带2个移动副平面六连杆机构的死点

    Table  3.   Dead points of planar six-bar linkage with two sliding pairs

    死点 θ2/(°) θ3/(°) θ4/(°) θ5/(°)
    b[1] -162.7 -40.0 10.0 163.9
    b[2] -162.7 -40.0 10.0 77.5
    下载: 导出CSV

    表  4  带3个移动副平面六连杆机构参数

    Table  4.   Parameters of planar six-bar linkage with three sliding pairs

    参数 数值
    a1 3
    a2 6
    a3 5.2
    a4 5
    a7 4
    β/(°) 50
    γ/(°) 30
    α1α2/(°) 30
    下载: 导出CSV

    表  5  带3个移动副平面六连杆机构的死点

    Table  5.   Dead points of planar six-bar linkage with three sliding pairs

    死点 θ2/(°) θ3/(°) θ4/(°)
    a -78.9 -40.0 10.0
    b -158.9 -40.0 10.0
    下载: 导出CSV

    表  6  带2个移动副平面六连杆机构的2个位置参数

    Table  6.   Parameters of planar six-bar linkage with two sliding pairs for 2 positions

    参数 位置1 位置2
    θ2/(°) -50 10
    B (3.54, -4.21) (5.42, 0.96)
    E (2.94, -0.06) (1.75, -1.10)
    F (1.32, 1.85) (-0.12, -2.97)
    Δ4 0.25 -0.34
    下载: 导出CSV
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出版历程
  • 收稿日期:  2017-03-14
  • 录用日期:  2017-04-13
  • 刊出日期:  2018-03-20

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