球面五杆机构的运动学与性能分析  

Kinematics and Performance Analysis of Spherical Five-bar Mechanisms

作　　者：王进戈[1] 张均富[1] 王强[1] 徐礼钜[2] 

机构地区：[1]西华大学机械工程与自动化学院,成都610039 [2]四川大学制造科学与工程学院,成都610065

出　　处：《机械工程学报》2008年第8期33-39,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50375104)

摘　　要：基于球坐标对机构进行描述,将球面五杆机构的运动描述在由2转动自由度构成的二维平面上,导出具有2自由度特征的球面五杆机构的速度方程和雅可比矩阵的解析表达。以此为基础,研究球面五杆机构的奇异位形和灵活度,绘制机构的奇异轨迹曲线和灵活度分布曲线,并对球面五杆机构的结构参数对全条件指标的影响进行分析。研究表明,基于球坐标对机构进行描述,便于建立球面五杆机构的速度方程和雅可比矩阵,能够直观描述机构的奇异轨迹曲线和灵活度分布曲线。Based on the spherical coordinates, the kinematics of the spherical five-bar mechanisms is described in a two-dimensional plane, which is constructed by the two rotational degrees of the spherical coordinates. The velocity equation and the analytical expression of the Jacobian matrix for spherical five-bar mechanisms with two degrees of freedom characteristics are deduced. The singularity configuration and dexterity of asymmetric spherical five-bar mechanisms are discussed based on Jacobian matrix of mechanisms. The distribution of singularity loci and dexterity curve for spherical five-bar mechanisms are drawn. The influence of structure parameters on global condition index for asymmetric spherical five-bar mechanisms is studied. The results show that, based on the spherical coordinates, the velocity equation and the Jacobian matrix can be conveniently created, and the distribution of singularity loci and dexterity curve for spherical five-bar mechanisms can be effectively described.

关 键 词：球面五杆机构 奇异轨迹 灵活度 全域条件指标 

分 类 号：TH112[机械工程—机械设计及理论]