【摘要】：提出一種LEMs機(jī)構(gòu)綜合方法,該方法能夠求解包含轉(zhuǎn)動(dòng)副和移動(dòng)副,以及機(jī)架和主動(dòng)件變換的LEMs機(jī)構(gòu)綜合問題。首先,構(gòu)造平面運(yùn)動(dòng)鏈的桿組鄰接矩陣,基于此桿組鄰接矩陣,求解給定構(gòu)件數(shù)和自由度數(shù)的所有平面機(jī)構(gòu)的可能連接方式;其次,基于構(gòu)件和自由度的數(shù)目,分析桿組的所有裝配方式,構(gòu)建桿組鄰接矩陣的框架,依據(jù)一定的約束條件,將第一層及之后的桿組依次裝配到主動(dòng)件和機(jī)架或者前層桿組上,并且同步辨識(shí)同構(gòu)體,從而獲取只含轉(zhuǎn)動(dòng)副的所有平面機(jī)構(gòu)構(gòu)型;然后,將主動(dòng)件的運(yùn)動(dòng)副類型以及不同類型的各級(jí)桿組分別代入前述所求得的平面機(jī)構(gòu)構(gòu)型,得到包含轉(zhuǎn)動(dòng)副和移動(dòng)副,以及機(jī)架和主動(dòng)件變換的所有平面機(jī)構(gòu)構(gòu)型;最后,用相應(yīng)的柔順片段代替剛性片段,完成LEMs構(gòu)型綜合。
[Abstract]:This paper presents a synthesis method of LEMs mechanism, which can solve the synthesis problem of LEMs mechanism including rotating pair and moving pair, as well as frame and active component transformation. Firstly, the linkage matrix of the planar kinematic chain is constructed. Based on the linkage matrix, the possible connection modes of all planar mechanisms with given number of components and free degrees are solved. Secondly, based on the number of components and degrees of freedom, all the assembly methods of the bar group are analyzed, and the frame of the adjacent matrix of the bar group is constructed, which is based on certain constraints. The first layer and the subsequent bar group are assembled to the active member and the frame or the front layer bar group in turn, and the isomorphism is identified synchronously, so that all the planar mechanism configurations with only the rotating pair are obtained. Then, the types of motion pairs of active parts and different types of bar groups are substituted into the obtained planar mechanism configuration respectively, and all planar mechanism configurations including rotating pair and moving pair, as well as frame and active part transformation are obtained. Finally, the LEMs configuration synthesis was completed by replacing the rigid fragment with the corresponding compliant fragment.
【作者單位】： 江南大學(xué)機(jī)械工程學(xué)院;上海交通大學(xué)機(jī)械系統(tǒng)與振動(dòng)國家重點(diǎn)實(shí)驗(yàn)室;哈爾濱工業(yè)大學(xué)機(jī)器人技術(shù)與系統(tǒng)國家重點(diǎn)實(shí)驗(yàn)室;江蘇省食品先進(jìn)制造裝備技術(shù)重點(diǎn)實(shí)驗(yàn)室;
【基金】：國家自然科學(xué)基金資助項(xiàng)目(50905075) 江蘇省高�！扒嗨{(lán)工程”優(yōu)秀青年骨干教師人才基金資助項(xiàng)目 教育部中央高�；究蒲袠I(yè)務(wù)專項(xiàng)基金重點(diǎn)資助項(xiàng)目(JUSRP51316B) 機(jī)械系統(tǒng)與振動(dòng)國家重點(diǎn)實(shí)驗(yàn)室開放課題資助項(xiàng)目(MSV201407) 機(jī)器人技術(shù)與系統(tǒng)國家重點(diǎn)實(shí)驗(yàn)室開放基金資助項(xiàng)目(SKLRS-2012-MS-07) 江蘇省食品先進(jìn)制造裝備技術(shù)重點(diǎn)實(shí)驗(yàn)室開放課題資助項(xiàng)目(FM-201402) 江蘇省普通高校學(xué)術(shù)學(xué)位研究生科研創(chuàng)新計(jì)劃資助項(xiàng)目(KYLX-1115)
【分類號(hào)】：TH112

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 董伯麟,梁錦華;平面機(jī)構(gòu)誤差分析的同倫法[J];機(jī)械設(shè)計(jì);2001年08期

2 安培文,任亨斌;平面機(jī)構(gòu)中的過約束[J];寧夏工程技術(shù);2002年02期

3 李晉山;平面機(jī)構(gòu)中虛約束在實(shí)際工程中的應(yīng)用分析[J];機(jī)床與液壓;2002年03期

4 尹成湖;范春起;;一種組成平面機(jī)構(gòu)的方法[J];機(jī)械設(shè)計(jì);2006年01期

5 楊金堂;孔建益;熊禾根;李公法;廖漢元;;全移動(dòng)副平面機(jī)構(gòu)的運(yùn)動(dòng)研究[J];機(jī)械傳動(dòng);2007年01期

6 張速;;確定多自由度平面機(jī)構(gòu)速度的一種方法——無極速度圖法[J];安徽建筑工業(yè)學(xué)院學(xué)報(bào)(自然科學(xué)版);2008年01期

7 肖先鏞;;平面機(jī)構(gòu)運(yùn)動(dòng)的矢量封閉方程分析法[J];武漢水運(yùn)工程學(xué)院學(xué)報(bào);1981年02期

8 佘上安;楊兆旋;yけＣ，

本文編號(hào)：2394452