球面双摇杆机构摇杆摆角的计算

Calculating of Rocking Angles for Spherical Double - Rocker Linkages

根据Grashof准则,球面双摇杆机构可分为球面Grashof双摇杆机构和球面Non-Grashof双摇杆机构。球面Non-Grashof双摇杆机构又可进一步分为内摆角型、外摆角型及重叠摆角型球面Non-Grashof双摇杆机构。在对球面双摇杆机构进行完全分类的基础上,分析了每类机构主动摇杆、从动摇杆的根限位置,给出了每类机构摇杆极限摆角的计算方法和计算公式。最后给出了两个实例。

Using spherical Grashof criteria, this paper proposed a classification of spherical double —rocker linkages which results in the identification of 2types: sphwrical Grashof double-rocker linkages or spherical Non-Grashof double-rocker linkages. Furthermore, spherical Non -Grashof double _ rocker linkages are divided into 3 types: spherical Non-Grashof double -rocker linkages with internal rocking angles, with external rocking angles or with overlapping rocking angles. Based on a robust and detailed classification for the spherical double —rocker linkages,analysis of the limit positions of the driving rocker and the driven rocker for every type linkage has been presented,algorithm and computing formulae to determine rocking angles have been provided. At last,2 examples have been given.