全移动副机构的型综合

Type Synthesis of Mechanism with All Prismatic Pairs

应用数值方法导出了全移动机构运动链中构件数、移动副数、各元连杆数、运动链环数及机构自由度之间关系的数值计算公式。基于运动链特征值,采用一种新方法——拓扑图法探求全移动副机构的运动链及其异构体的构型。给出了23种构件数不大于6的全移动副机构的运动链及其异构体的构型,并用ADAMS软件验证了其全移动副机构的实际能动性。

The relationship among the numbers of links in a kinematic chains,the numbers of slider joints,the numbers of linkage which has different numbers of nodes per link,the circle numbers of kinematic chains and the degrees of freedom of mechanism was obtained based on a mathematical method for the mechanism which was restricted to only slider joints,and the relationship was represented by a numerical calculation formula.A new method was used to study the types of kinematic chains and their isomers of machenism which was restricted to only slider joints based on the characteristic value of kinematic chains.For the machenism which was restricted to only slider joints and its numbers of links was less than 6,then 23types of kinematic chains and their isomers obtained based on the characteristic value of kinematic chains.The movability for this machenism was demonstrated by using the software of ADAMS.