计算机辅助Watt型平面六连杆机构分支自动识别

Computer-aided Watt-type planar six-bar linkage branch automatic identification

针对Watt型平面六连杆机构解域分析问题,提出了基于欧拉公式和判别法的平面四环链和平面六环链的奇异点识别方法,并结合平面四环链和平面六环链的运动特征,对Watt型平面六连杆机构进行了分支自动识别研究。首先,基于提出的识别方法并结合MFC(microsoft foundation classes,微软基础类库)设计了计算机辅助识别软件,实现对Watt型平面六连杆机构的分支、构型位置以及奇异点坐标的自动识别。然后,基于识别结果分析Watt型平面六连杆机构的可行域,再根据Watt型平面六连杆机构的可行域生成机构的运动仿真视频,并通过仿真视频分析其运动学特性。最后,结合实例演示Watt型平面六连杆机构分支的自动识别过程。结果显示该计算机辅助识别软件能够对该机构分支进行自动判别。研究结果表明利用所提出的Watt型平面六连杆机构分支自动识别方法可简便快捷地实现对机构的可行域分析和运动学分析,具有较强的工程实用性。

Aiming at the problem of solution domain analysis of Watt-type planar six-bar linkage, a singularity identification method based on Euler formula and discriminate method for planar four-link chain and planar six-link chain was proposed. Combining the motion characteristics of planar fourlink chain and planar six-link chain, the branch automatic identification for Watt planar six-link mechanism was studied. Firstly, based on the proposed recognition method and the MFC(microsoft foundation classes), a computer-aided identification software was designed to realize the automatic recognition of the branch, configuration position and singular point coordinates of Watt-type planar six-bar linkage. Secondly, according to the recognition results, the feasible region of Watt-type planar six-bar linkage was analyzed. According to the feasible region, the motion simulation video of the linkage was generated, and the kinematics characteristics were analyzed by the simulation video.Finally, the automatic identification process of Watt-type planar six-bar linkage was demonstrated by examples. The results showed that the computer aided identification software could automatically discriminate the branches of Watt-type planar six-bar linkage. The research results indicate that the proposed Watt-type planar six-bar linkage branch automatic identification method can realize the feasible domain analysis and kinematics analysis of the linkage easily and quickly,and has a strong engineering practicability.