球面机构的相伴方法与运动几何学研究  

Adjoint approach and kinematic geometry of spherical mechanisms

作　　者：李天箭[1] 王德伦[1] 

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《大连理工大学学报》2000年第4期456-460,共5页Journal of Dalian University of Technology

基　　金：国家自然科学基金资助项目 !( 596 750 0 3

摘　　要：用曲面与曲线相伴方法研究球面机构运动几何学 ,建立了球面四杆机构的运动几何学模型 .导出了动定瞬轴面的表达式 ,讨论了瞬轴面的几何形状及分布区域 .研究了球面四杆机构连杆上的测地拐点、波尔点等特征点 ,得到了测地拐点曲线开闭与瞬轴面诱导测地曲率的关系 。The properties of the kinematic geometry of spherical mechanisms are discussed at first by the new adjoint approach in the differential geometry language, which leads to the fact that some special characteristic points on the moving body are readily located, such as inflection point, Ball′s point, circle point, fixed axode and moving axode. And then, the global properties of axodes for four bar spherical mechanism are revealed, which can be uniquely described on a semi sphere. Either the fixed axode or the moving axode is closed form if it fits crank condition. Otherwise, it will be an open form. Meanwhile, the geodesic inflection point curves on the sphere is examined in detail, which is an open curve if β *<2 , an open curve with insect point if β *=2 and an open curve with a closed curve if β *>2 . Finally, the Ball′s curve in the moving body is an enveloped curve of the inflection curve for spherical motion.

关 键 词：球面四杆机构 运动几何学 相伴方法 平面机构 

分 类 号：TH112.1[机械工程—机械设计及理论]