球面4R机构四位置综合的类型图方法

Synthesis of Spherical 4R Linkages for Four Specified Positions Based on Type Map

球面4R机构的四位置综合,由于计算量大,求解质量难以预先把握和控制,且具有实质上的盲目性,妨碍了球面4R机构在工程技术领域中的推广和应用。在对美国加州大学欧文分校所提出的类型图方法进行剖析的基础上,利用球面Burmester理论的相关原理,基于MATLAB平台,提出了类型图及其缺陷甄别的一种几何实现方法,将Burmester曲线综合出的全部球面4R机构进行属性分类,使得设计者可以在众多可行的机构综合方案中迅速定位到满足工程需要的机构,很大程度上解决了球面4R机构四位置综合中的复杂性和盲目性难题。通过算例证实了该方法的有效性和实用性。

Because of complex computation and big blindness of the synthesis of spherical 4R linka ges for four specified positions,it is difficult to ensure the mechanism solutions of the problem to be practicable,and it is limited their applications in the field of engineering. Based on the study on type map proposed by the Robotics and the Automation Laboratory attached to University of California, Ir vine and the theory of Burmester,this paper gave a geometrical approach to realize the method of type map and the defect discrimination based on the platform of MATLAB to classify all the spherical 4R linkages synthesized by Burmester curve according to their attributes. Designers were allowed quickly to locate the solution project needs from a set of possible mechanism synthesis results. Finally,an in stance was cited to realize the effectiveness of the method and gives a new idea to solve such synthesis problems.