平面二自由度全铰链五杆轨迹机构综合方法的研究

Study of the Path Synthesis of a Planar Two-DOF Five-bar Mechanism

对平面二自由度五杆机构的位姿形式及位置逆解进行分析之后,提出了用二自由度辅助机构进行全铰链五杆轨迹机构综合的方法。该方法先将平面二自由度全链五杆机构看成由两个开链二杆机构组成的机构。然后按照给定要实现的轨迹,用二自由度辅助机构分别综合出两个开链二杆机构。最后再将综合出的两个开链二杆机构组合成全链五杆机构。按照此种方法综合出的全铰链五杆机构可精确地实现给定的轨迹,配以合适的驱动方式可进行异形边界及系列边界的加工,本文的研究为特殊类型边界的加工提供了手段。

A method that uses two degrees of freedom （DOF） auxiliary mechanisms to path synthesize a five-bar mechanism was presented after analyzing the posts and inverted solutions of the five-bar mechanism. Firstly, the five-bar mechanism was looked at as composing of two open-chain two-bar mechanisms. Secondly, two-DOF auxiliary mechanisms were used to synthesize the two open-chain two-bar mechanisms respectively according to their given path. Finally, the method sgnthesizes the two open-chain two-bar mechanisms into a five-bar mechanism which can realize the given path. The five-bar mechanism synthesized by using the method presented in the paper can accurately realize the given path, which provides means for the manufacturing of anomalous boundaries or series of boundaries.