空间RSSR机构向球面4R机构的转化  

Transformation from Spatial RSSR Mechanism to Spherical 4R Mechanism

作　　者：何勇[1] 顾玉莲[1] 吴兴培[1] 

机构地区：[1]东华大学机械工程学院,上海201620

出　　处：《机械工程学报》2009年第10期30-35,共6页Journal of Mechanical Engineering

摘　　要：根据空间RSSR机构建立机构运动的数学模型,推导出空间RSSR机构的位移方程。同时分析空间RSSR机构转化为球面4R机构的必要条件,并从理论上证明通过对机构设计参数的特殊选取,空间RSSR机构可以转化为轴线相交一点的球面4R机构,然后推导出空间RSSR机构为主动曲柄件时,空间RSSR机构转化为4R机构的各个设计参数应满足的条件,为实际工程应用提供理论依据。根据空间RSSR机构转化为球面4R机构的方法,通过理论计算和试验仿真分析,设计出适应高速剑杆织机的空间引纬机构。以高速剑杆织机的空间引纬机构设计为实例,对以空间4R机构代替空间RSSR机构的设计方法进行验证,验证结果显示,该方法设计的球面4R机构能够满足空间RSSR机构的运动规律要求,并具有更好的运动性能以及可加工性与可装配性。从结构、工艺、维护以及运动学与动力学性能等方面比较空间RSSR机构和球面4R机构的性能与特点,结果显示了使用球面4R机构代替空间RSSR机构的优越性,并为将来空间复杂驱动机构的设计提供了参考。A method of transformation from spatial RSSR mechanism to spherical 4R mechanism for spatial driving mechanism design is presented. The necessary conditions of transformation from spatial RSSR mechanism to spherical 4R mechanism are also analyzed. Furthermore, it is proved theoretically that, spatial RSSR mechanism, by defined parameters, can be transformed into spherical 4R mechanism with axes intersection at one point. The prerequisite for each design parameter in transformation from spatial RSSR mechanism to spherical 4R mechanism, when spatial RSSR acts as a driving crank, is thus deduced, which lays a theoretical basis for the application of practical engineering. Based on the method of transformation from spatial RSSR mechanism to spherical 4R mechanism, theoretical calculation and test simulation, a spatial rapier-driving mechanism applicable for high-speed rapier looms is developed. Through this example, this method that spatial RSSR mechanism is replaced by spherical 4R mechanism is verified. The finding indicates that all the requirements of spatial RSSR mechanism can be met and the spherical 4R shows better performance, manufacturability and assemblability. Priority of spherical 4R mechanism is also validated in terms of structure, manufacturability, maintenance and kinematics and dynamics performance.

关 键 词：空间RSSR机构 球面4R机构 机构转化 设计参数 复杂驱动机构 

分 类 号：TH112.1[机械工程—机械设计及理论]