混合输入五杆机构构型的分析

Analysis of Types of Hybrid Input Five-Bar Mechanism

利用开链机构的工作空间位置关系、四杆机构的可装配条件和 Grashof准则 ,分析四杆机构的所有构型 .基于四杆机构构型 ,分析满足混合输入要求的所有五杆机构构型 .将混合输入五杆机构分为 3种类型 :无条件三曲柄、无条件两曲柄和无条件单曲柄类型 .根据四杆机构的可装配条件 ,推导出五杆机构不会出现奇异位置的条件 ,即两连杆不共线的条件 .利用此条件 ,进一步得到满足混合输入要求且不出现奇异位置的五杆机构的 3种类型 .这

By utilizing the position relationship of open-chain's workspace, four-bar mechanism's assemblability law and Grashof criterion, it analyzed all types of four-bar mechanism. Based on it, all types of hybrid five-bar mechanism were analyzed. The hybrid five-bar mechanism is divided into three types, which are unconditional three-cranks, unconditional two-cranks and unconditional single-cranks. According to the law of four-bar mechanism's assemblability, the condition of no singular position of five-bar mechanism is derived. That is two couplers are not colinear. By using the condition, it got three types of five-bar mechanisms which satisfy the requirement of hybrid input and no singular position. These types provide the important constraint condition for dimensional synthesis of the hybrid input five-bar mechanism.