两自由度连杆机构精确实现平面轨迹的研究

Study of the Generation of Locus for Linkage with Two Degrees of Freedom

本文提出五杆机构的一个原动件匀速转动,另一原动件用微机控制进行误差补偿,从而精确实现平面轨迹的方案。探讨了尺度综合、工作区域和控制方法,并进行了实验。这种方案可以增加机构刚性,简化控制系统。

This paper proposes a new aproach generating the given planar locus accurately by the measure that in five-bar linkage one of the drivers rotates with constant angular velocity and the other is moving for compensation by the control of mincro-computer.The dimension synthesis of mechanism,the working range and control system are discussed,and the experiment was made. This aproach gives better rigidity,simple control system.