空间第一组机构连杆扭角和回路的关系研究

Research on relation between link twist angle and circuit of spatial first-group mechanism

从球面三角理论出发 ,对球面四杆机构构件扭角和机构回路的关系进行分析 ;通过球面 4R机构中最大扭角和最小扭角进行定义 ,给出了其所满足的三个条件与球面 4R机构的四种回路特性之间的联系 ,最后阐述了将此结论应用于第一组空间单环机构的方法。这对于机构分析与综合有重要的参考价值。

Starting off from the theory of spherical triangle,an analysis was carried out on the relation between component twist angle of spherical four-bar linkage and circuit of mechanism.By means of carry on the definition upon maximal and minimal twist angles in spherical 4R mechanism,relationship between the three conditions,which have to be satisfied for the mechanism,and the characteristics of four kinds of circuits in the spherical 4R mechanism was presented.Finally,the method of applying this conclusion to the spatical first-group single looped mechanism was elaborated.This research has significant value of reference for the analysis and synthesis of the mechanism.