多自由度连杆机构的仿真与示教  

Multi-Freedom Linkage Mechanisms Simulation and Teaching

作　　者：蒯苏苏[1] 房义军[1] 吴伟光[2] 

机构地区：[1]江苏大学工业中心,江苏镇江212013 [2]江苏大学机械工程学院,江苏镇江212013

出　　处：《机械传动》2011年第4期26-28,32,共4页Journal of Mechanical Transmission

基　　金：江苏大学教改项目(ZXJG2009008)

摘　　要：针对五连杆机构连杆曲线的多样性进行了分析与综合,揭示和确定了五连杆机构有双曲柄的条件。同时采用计算机仿真了五连杆双曲柄机构、带一个移动副的五连杆机构和带一个导块的五连杆机构。通过单片机芯片集成控制五连杆机构,设置4个功能元完成示教动作。从五连杆机构的数学公式出发,对多自由度连杆机构进行了编程和轨迹示教,同时对多自由度机械系统设计中实现可靠的鲁棒运动所需方法的研究提供了依据。The diversity of the five-bar linkage mechanism curve is analyzed and synthesized,conditions of the five-bar mechanism with double crank conditions are revealed and determined.Using the computer,five-bar linkage with double crank mechanism,with a sliding pair five-bar linkage mechanism and with a guide block of five-bar linkage mechanism are simulated.Five-bar linkage mechanism would be controlled by MCU.Setting four function teaching actions is completed.According to the mathematical formula of five-bar linkage mechanism,multi-freedom linkage mechanism is programmed and tracing path teaching is carried out.At the same time,in the design of multi-freedom mechanical system,research basis of realizing and reliable Robust movement method is provided.

关 键 词：五连杆机构 轨迹 单片机 计算机仿真 示教 

分 类 号：TH112.1[机械工程—机械设计及理论]