平面七杆机构混合驱动器运动链分析和综合

Type Analysis and Synthesis of the Kinematic Chain of Plane Seven-bar Mechanism Used in Hybrid Actuator

使用传统RTNA(realtimenon adjustable)马达和RTA(realtimeadjustable)马达混合驱动平面两自由度七杆机构 ,达到既可以提供输出的柔性 ,又可以降低费用的目的。先就平面两自由度七杆机构进行型综合 ,得到平面两自由度七杆机构的四种运动链 ;然后逐一分析每一种运动链 ,得出适合于混合驱动器的一种运动链。为平面两自由度七杆机构混合驱动器的分析和设计打下基础。

Hybrid machines,which are a combination of mechanisms and two types of motors:traditionally RTNA(real time non adjustable)motor and RTA(real time adjustable)motor,have flexibility at a reduced cost.The paper firstly synthesizes the type of the kinematic chain of plane 2 DOF seven bar mechanism to find out four kinds of the kinematic chain,and then analyses every kind of the kinematic chain one by one to find out only to have one kind of kinematic chain being fit for a hybrid actuator,which establish foundation for the analysis and design of a hybrid actuator using plane 2 DOF seven mechanism.