空间摆动RCCC机构技术研究

Research of Spatial Swing RCCC Mechanism

文中基于典型RCCC机构演化推导出舵机用空间摆动RCCC机构,开展了空间摆动RCCC机构运动学分析,得出该机构在输入不换向的条件下,可实现周期性往复摆角输出,并且减速比呈周期性波动,在最大输出转角处,瞬时减速比无穷大;开展了空间摆动RCCC机构静力分析,得出该机构在恒定负载工况下,最大输出摆角处输入力矩为零,该特征为舵机大载荷下体积的最小化提供可能,为新型空间机构的研究奠定基础。

Baaed on the typical RCCC mechanism,the paper designs spatial swing RCCC mechanism for steering engine.The kinematics analysis of spatial swing RCCC mechanism is researched.It is derived that this mechanism can realize the periodic reciprocating swing angle output under the condition of no turning angle input,and the ratio of speed reduction fluctuates periodically.The instantaneous speed reduction ratio is greater than the maximum swing angle.The static analysis of spatial swing RCCC mechanism is researched.It is derived that the input torque is zero at the maximum output swing angle under rated load.This feature provides the possibility to minimize the volume of the actuator under laxge load.The result provides reference for the research of new space mechanism.