含复铰平面闭式运动链型综合的组合法

COMBINATION METHOD OF TYPE SYNTHESIS FOR PLANAR KINEMATIC CHAIN WITH MULTIPLE JOINTS

提出了运动链型综合的组合法。利用已知的闭式运动链和开式链,通过开式链上的连接铰链将闭式运动链和开式链组合起来,从而形成新的构件数较多的运动链型。同时提出了型综合组合法的基本算法。研究表明,该方法通过递推可以得到完整的运动链的各种类型,也可以选定已知闭链和开链进行组合,得到给定构件数和其他条件的部分运动链类型,具有综合过程简便、直观性好和便于计算机处理等特点。

Combination method of type synthesis for planar kinematic chain with multiple joints is presented. Using the closed kinematic chain and open chain, which are known and in which the quantity of components is less, the closed kinematic chain and open chain can be combined by the connecting joints of open chain. The basic algorithm of the method is presented too. When the component number and freedom are given, by this method, not only all new types of kinematic chains can be obtained recurrently, but also the partial new types of chains can be obtained through selecting known open chain and closed chain. This method is effective, directly perceptible, simple and convenient, and easily dealt with computer.