摘要
对"杆组法"的研究思想作重要引伸和推广,发展和深化了"原动件与机架组"极端特征条件、"杆组"适应性条件的重要概念和提法,关于双固定铰链的2-DOF平面五杆机构的4种类型,通过系统、深入研究得到了其双曲柄存在的充分条件和必要条件。研究发现,该方法具有一定的通用性、有效性,可以向多自由度高级别平面机构、空间机构和机器人机构等作重要的延伸和推广。
We further extend the research on the link group method by Chang Yong et al in Reference 1, who is the third author of this paper, and develop such concepts as extreme characteristic conditions for a prime mo- tion piece and frame group, adaptive conditions for a linkage group, four types of 2-DOF planar five-link link- age with double fixed hinges. Our systematic and in-depth study arrives at the full conditions and necessary conditions for the existence of double cranks of a 2-DOF planar five-link linkage. The study results show that our method serves general purposes, is effective and worth extending to planar mechanisms space mechanisms and robotic mechanisms that have multiple DOFs and are of higher level.
出处
《机械科学与技术》
CSCD
北大核心
2008年第1期78-82,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
福建省自然科学基金计划资助项目(E0610022
E0010029)资助
关键词
平面五杆机构
杆组法
双曲柄
充分条件
必要条件
planar five-link linkage
link group method
double-crank
full condition
necessary condition
