可调节型空间RRSS机构刚体导引综合

Kinematic Synthesis of Adjustable Spatial RRSS Mechanisms for Rigid-body Guidance

提出了可调节型空间RRSS机构刚体导引综合的方法,分杆组分任务独立求解导出了相应综合方程,其中R-R杆组综合时运用了共面和反位移原理,简化了求解的复杂度。通过调节机构部分参数可实现多任务刚体导引综合,给定了任务与最大精确导引位置数之间的关系。运用混沌分形方法求出了综合方程组全部解,并给出了一个数字实例。

We propose a method for synthesizing adjustable spatial RRSS mechanisms for rigid-body guidance and derive their synthesis equations link by link and task by task. We use the principles of co-plane and inverse displacement for the synthesis of R-R links, thus simplifying the complexity of solutions. The adjustment of some of the parameters of the mechanisms accomplishes the synthesis of multiple tasks for rigid-body guidance. Then we present the relationship between the number of tasks and the maximum number of accurate guidance positions. Finally we seek the complete solutions of nonlinear synthesis equations with the chaos decomposition method and present a numerical example to illustrate the solutions.