全R副空间连杆机构摆动力完全平衡的质量静替代法

PDEL Method for Complete Shaking Force Balancing of Spatial Linkages with Only R Pairs

提出了全Ｒ副空间连杆机构摆动力完全平衡的一种新方法──质量静替代法，其基本思想是通过质量静替代的途径，将空间闭链机构摆动力的完全平衡转化为空间开链摆动力的完全平衡．导出了ＲＲ构件的质量静替代公式与空间开链摆动力的完全平衡条件，由此可直接构造出任意多环全Ｒ副空间连杆机构摆动力的完全平衡条件，不再需要进行繁琐的公式推导．最后以一种单自由度两环空间连杆机构为例。导出了其摆动力的完全平衡条件．

This paper presents a PDEL (partially dynamically equivalent link) method for complete shaking force balancing of SLORP (spatial linkages with only R pairs). Using the PDEL concept,complete shaking force balancing of a Closed-loop SLORP may be reduced to that of open-loop spatial chains. Formulae to calculate the PDEL model of the RR link and conditions for complete shaking force balancing of open-loop spatial shains are derved from which the conditions for complete shaking force balancing of the closed-loop SLOP can be formulated in an elasy way. The complete shaking force balancing of a single degree of freedom, 2-loop SLORP is presented to illustrate the application of the propsed approach.