可调节型空间RSS′R机构刚体导引综合  

Kinematic Synthesis of Adjustable RSS'R Mechanisms for Rigid-body Guidance

作　　者：易伟[1] 杨随先[1] 徐礼钜[1] 

机构地区：[1]四川大学制造科学与工程学院,成都610065

出　　处：《机械设计与研究》2005年第6期36-39,共4页Machine Design And Research

基　　金：国家自然科学基金资助项目(50375104)

摘　　要：提出了可调节型空间RSS'R机构实现多任务刚体导引综合的两步法。首先综合实现4个给定位置(任务1)的初始RSS'R机构。其次,在初始机构的基础上,通过调节机构部分结构参数综合出实现另外给定位置(任务2、3、…)的可调节型RSS'R机构。分别建立了初始RSS'R机构刚体导引综合非线性设计方程组和可调节型RSS'R刚体导引综合非线性设计方程组。运用齐次化同伦连续法给出了两组非线性设计方程组的数值解。讨论了可调节型空间RSS'R机构的调节方式。给出了一个数字实例。It has been presented that a two-step method to solve the kinematic synthesis problem of the adjustable RSS＇R mechanism for rigid-body guidance which can achieve multiple tasks（phases of coupler position）by using the same hardware. First, an initial RSS＇R mechanism are synthesized, which can achieve four given coupler positions （task 1）. Then, based on the previous mechanism, a new adjustable RSS＇ R mechanism can be synthesized to imple- ment other given coupler positions （task 2,3,i） by changing some structure parameters. The sets of nonlinear synthesis equations of the initial RSS＇ Rmechanism and the new adjustable RSS＇ R mechanism have been established separately. By using the generalized homotopy iteration method,the sets of nonlinear synthesis equations were solved, and the whole numerical solutions were given out as a result. The different adjustments are discussed as well. Finally, a numerical example has been illustrated.

关 键 词：机构综合 可调机构 刚体导引 同伦法 RSSR机构 

分 类 号：TH112[机械工程—机械设计及理论]