球面四杆机构刚体导引综合的代数求解

The Algebraic Solution for Rigid-body Guidance Synthesis of Spherical Four-bar Mechanisms

建立了一种可实现球面四杆机构多位置刚体导引综合的代数求解新方法。该方法用傅氏级数描述球面四杆机构刚体导引运动输出,分析得到了机构统一的三维刚体导引位置轨迹曲线函数关系式;在此基础上,分别分析了机构刚体导引转角函数、机构刚体导引位置轨迹、机构连杆转角函数三者的谐波参数与机构设计参数之间的关系,进而分两步建立了机构综合设计方程,求解方程得到机构的设计参数。通过综合实例验证了该方法的有效性和可行性。

An algebraic approach that can realize multi-position rigid-body guidance synthesis of spherical four-bar mechanisms is established.By describing the rigid-body guidance motion output of spherical four-bar mechanisms with Fourier series,the unified function expression of the three-dimensional rigid-body guidance position path of the mechanism is obtained through analysis.On this basis,the relation among the harmonic parameters of the rigid-body guidance angle function,the rigid-body guidance position path,the connecting rod rotation angle and the design parameters are analyzed,respectively.According to the relation,the synthesis design equations with design parameters are obtained in two steps,and the design parameters of the mechanism are obtained by solving the equations.The effectiveness and feasibility of this approach are verified by an example.