Kinematic Characteristics Analysis and Parametric Solving of Snow Melting Agent Throwing Mechanism with Variable Crank Length

Variable crank length cam⁃linkage mechanism has attracted much attention due to its compact overall structure when realizing complex motion laws.According to the special trajectory requirements,the kinematic characteristics and parameters of the mechanism have been analyzed and solved,which lays foundation for the implementation of the variable crank length snow melting agent throwing mechanism designed in this paper.Based on the trajectory equation of the point,the mathematical model of the throwing mechanism was established,and the theoretical trajectory of the end point of the throwing mechanism was obtained by programming.The parametric modeling and trajectory drawing were carried out by computer aided three⁃dimensional interactive application(CATIA),and the correctness of the mathematical model was verified by comparison.The regional trajectory distribution characteristics of the end points of the throwing mechanism were studied by using the trajectory region location method,and the influence of various parameters on the trajectory was investigated by using the numerical cycle comparison method.The human⁃computer interaction system of snow melting agent throwing mechanism with variable crank length was constructed by using Microsoft Visual Basic(VB)software.Based on the restriction conditions,the optimum combination of structural adjustment parameters and operational parameters suitable for Harbin first⁃class roads was obtained by using orthogonal test table,which provides an effective method to solve the parameters of the variable crank length cam mechanism with smooth impulse trajectory.

Kinematic and Dynamic Characteristics Analysis of Bennett's Linkage

Bennett's linkage is a spatial fourlink linkage,and has an extensive application prospect in the deployable linkages.Its kinematic and dynamic characteristics analysis has a great significance in its synthesis and application. According to the geometrical conditions of Bennett 's linkage,the motion equations are established,and the expressions of angular displacement,angular velocity and angular acceleration of the followers and the displacement,velocity and acceleration of mass center of link are shown. Based on Lagrange's equation,the multi-rigid-body dynamic model of Bennett's linkage is established. In order to solve the reaction forces and moments of joint,screw theory and reciprocal screw method are combined to establish the computing method.The number of equations and unknown reaction forces and moments of joint are equal through adding link deformation equations. The influence of the included angle of adjacent axes on Bennett 's linkage 's kinematic characteristics,the dynamic characteristics and the reaction forces and moments of joint are analyzed.Results show that the included angle of adjacent axes has a great effect on velocity,acceleration,the reaction forces and moments of Bennett's linkage. The change of reaction forces and moments of joint are apparent near the singularity configuration.

Elastic Model of Flexure-Based Linkage under Motion Constrains and External Load

For a flexible mechanism with several-stage flexible linkage, the flexible linkage is equivalent to work under the actions of an external load and motion constrains. This paper aims to deal with a simplified elastic model on the kinematic characteristics of a flexure-based linkage under these conditions. The elastic modeling method was developed based on motion constrains and the elastic beam theorem(EBT). Effects of a constant force, an elastic force with a constant stiffness, and the materials were taken into account. The proposed modeling method was verified by comparing with the finite element method(FEM). Further, the developed modeling method was used to optimize a flexure-based mechanism based on a two-stage flexible linkage to realize a maximum displacement amplification ratio of 6.56. The flexure-based mechanism was employed to drive a miniature sucker, which performed with a negative pressure of 2.45 kPa at a frequency of 13.2 kHz.