弃杆组概念的运动学矢量方程拼图解法

Kinematic Vector Equation Puzzle Solution for the Concept of Abandoned Bar Group

平面高级机构与组合机构都是复杂的机构,二者的关系有待于澄清。有些平面高级杆组及高级机构的运动学矢量方程均存在2个以上的未知量,难以用图解法求解。为了解决第1个问题,基于对6个典型高级机构的分析,提出了杆组和高级机构须舍弃掉的观点。为了解决第2个问题,提出了矢量方程组的拼图解法。根据各矢量方程的已知量绘出已知量准确而未知量不准确的图,再拼接在一起,然后根据速度(加速度)影像法的原理和机构的位置参数调整未知量,从而求得所有未知量。1个串连组合机构的运动学拼图解法验证了该解法的有效性。

Planar high-level mechanism and combined mechanism are both complicated and their relationship is yet to be clarified.For some planar high-level bar groups and high-level mechanisms,their kinematic vector equations have more than two unknowns which are difficult to solve by graphical method.Therefore,based on the analysis of 6 typical high-level mechanisms,this paper proposed the idea that the bar group and high-level mechanisms must be abandoned,and the puzzle solution for vector equation as well.According to the known quantities of each vector equation,graphs were drawn with the known and accurate quantities and the unknowns and then spliced together.On the ground of the velocity(acceleration)image method and the position parameters of the mechanisms,the unknowns were adjusted to obtain solutions for them.The effectiveness of this method was verified by the kinematic puzzle solution for a series combined mechanism.