空间连杆机构位移分析和轨迹分析

The Displacement and the Coupler Curve Analyses of Some Spatial Mechanisms

摘要: 本文运用了约束关系式、投影和矩阵运算等方法对空间RSCR、RRSRR、RRRSR、RERRR和RRERR等机构的位移进行分析。所用方法简单,推导过程直观。在这基础上,作者导出空间RRRSR机构连杆曲线的参数表达式,并首次求得该连杆曲线的阶数为32阶。此外,还讨论了连杆曲线的虚点问题。

Abstract: The author applies constraint relations, projective method and matrix operations to the displacement analyses of spatial RSCR, RRSRR, RRRSR, RERRR, and RRERR mechanisms. Derivations of displace-ment equations are simple and intuitive. Based on this, the auther has developed a parametric equation for the coupler curve of the spatial RRRSR mechanism, and proved for the first time that the coupler curve is of the 32nd order. Finally, the imaginary point on the coupler curve is discussed.