单自由度空间机构运动学分析

Motion analysis of a spatial mechanism with single-degree-of-freedom

SBH 1三维摆动混合机为闭链单自由度空间机构。在对其进行运动学分析时 ,作者先将闭链打开 ,建立开链多自由度空间机构各构件的运动学方程。再根据闭链约束条件 ,建立约束方程 ,最终求得三维摆动混合机闭链单自由度空间机构各构件的运动学方程。文中还对筒体、右摆叉及左摆叉的质心运动进行了分析。结果表明 ,筒体质心轨迹为空间“∞”字形封闭曲线 ,右摆叉及左摆叉的质心轨迹均为封闭的空间蛋形曲线。

The SBH 1 three dimensional shaker mixer is taken as a closed chain spatial mechanism with single degree of freedom. At first, for analysis of its kinematics, the closed chain of the three dimensional shaker mixer was opened, and the kinematics equations of each component of the open chain spatial mechanism with multi degree of freedom were established. Then, according to the closed chain constraints, the constraint equations were established. Hence, the kinematics equations of each component of the closed chain spatial mechanism with single degree of freedom were obtained. The centroid motions of the silo, the right fork and the left fork were analyzed respectively. The results show that the centroid trail of the silo takes the spatial shape of '∞' and the centroid trails of the right fork and the left fork take the spatial shape of an egg. All the formula and the conclusions present an important theoretical basis for the design of a three dimensional shaker mixer.