基于Assur机构构成模式的非零开式运动链的构型

Configuration of Non-zero Open Kinematic Chain based on Assur Group

提出了一种n杆非零开式运动链的构型方法,研究变胞机构的组成原理。将机构的构建理解为,将自由度大于零的非零开式链连接到机架和原动件上而构成机构,机构的自由度为该非零开式链的自由度与原动件数之和。推导出了F=1的运动链36种;F=2的运动链57种。这些运动链与主动件和机架相连可分别构成F=2、F=3的机构,将为变胞机构的型综合提供依据。

The method of configuration for non - zero open kinematic chain with n - links is introduced, con- struction theory of metamorphic mechanism is studied. The construction of mechanism could be considered as such pro- cess that mechanism will be constructed by means of connecting non - zero open kinematic chain which is of more than zero degree of freedom with rack and driving link. The degree of freedom of non - zero open kinematic chain plus the numbers of driving link is equal to the degree of freedom for this mechanism, 36 types of kinematic chain are studied in case of F = 1,57 types of kinematic chain are studied in case of F = 2, some mechanisms with F = 2 or F = 3 could be constructed by means of connecting these kinematic chains with driving link and rack, the theory will be useful for type synthesis of metamorphic mechanism.