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平面八杆复铰单自由度机构的构型综合

曹毅 王强 陈桂兰

曹毅, 王强, 陈桂兰. 平面八杆复铰单自由度机构的构型综合[J]. 机械科学与技术, 2016, 35(10): 1505-1512. doi: 10.13433/j.cnki.1003-8728.2016.1006
引用本文: 曹毅, 王强, 陈桂兰. 平面八杆复铰单自由度机构的构型综合[J]. 机械科学与技术, 2016, 35(10): 1505-1512. doi: 10.13433/j.cnki.1003-8728.2016.1006
Cao Yi, Wang Qiang, Chen Guilan. Type Synthesis of Eight-bar One-DoF Multiple-joint Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(10): 1505-1512. doi: 10.13433/j.cnki.1003-8728.2016.1006
Citation: Cao Yi, Wang Qiang, Chen Guilan. Type Synthesis of Eight-bar One-DoF Multiple-joint Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(10): 1505-1512. doi: 10.13433/j.cnki.1003-8728.2016.1006

平面八杆复铰单自由度机构的构型综合

doi: 10.13433/j.cnki.1003-8728.2016.1006
基金项目: 

国家自然科学基金项目(50905075)、机械系统与振动国家重点实验室开放课题资助项目(MSV201407)及江苏省食品先进制造装备技术重点实验室开放课题资助项目(SJZZ16-0212)资助

详细信息
    作者简介:

    曹毅(1974-),副教授,博士,硕士生导师,研究方向为并联机器人,机构综合理论,caoyi@jiangnan.edu.cn

Type Synthesis of Eight-bar One-DoF Multiple-joint Mechanism

  • 摘要: 为综合得到含复合铰链的八杆机构所有构型,提出了一种基于杆组邻接矩阵的构型综合方法。首先,根据机构构件数目,分析机构所有可能的装配组合,并且构造杆组邻接矩阵对角元素。其次,由于机构中复铰类型及个数情况均有不同,将机构分为复铰因子v=1~4的不同类型,根据不同类型,将各级Assur杆组依次连接到前各元素的构件或者运动副上,形成多副杆或者复铰,同时逐步构造杆组邻接矩阵中其余元素,并同步辨识同构体。最后,直至将所有杆组全部连接完成,获得含复铰的八杆机构全部构型。应用该方法,求出了含各类型复铰及不同复铰因子的八杆机构共681种。
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出版历程
  • 收稿日期:  2015-01-07
  • 刊出日期:  2016-10-05

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