含四杆闭链球面机构位置分析方法  

Position Analysis of Spherical Mechanism with Four-bar Closed-loop Chains

作　　者：杨随先[1] 刘艳芳 孙艳[1] 

机构地区：[1]四川大学制造科学与工程学院,成都610065 [2]东方电气集团,成都610036

出　　处：《农业机械学报》2013年第8期262-267,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(50975186)

摘　　要：提出了针对含四杆闭链的球面机构位置分析的方法。通过对机构进行结构单元拆分,将其划分为四杆闭链球面机构与球面单开链(SOC)基本单元。基于球面环路方程建立了四杆闭链球面机构约束方程(组),基于坐标变换和方向余弦矩阵法建立了球面单开链约束方程(组),基于球面三角学建立了整个机构的耦合约束方程(组),进而获得机构的约束方程组。提出的方法具有约束建立简便、消元求解容易、少增根的特点,有利于获得机构位置分析的符号解或数字-符号解。A method of position analysis for spherical mechanisms with four-bar closed-loop chains was proposed.The mechanism was divided into a four-bar closed-loop mechanism and a single-opened-chain（SOC） unit.The constraint equation of the four-bar closed-loop was established with spherical loop equation.The constraint equation of SOC was set up with coordinate transformation and direction cosine matrix.The coupled constraint equation of whole mechanism was built up based on spherical trigonometry.The proposed method was simple to set up constraint,easy for elimination and less extraneous root,which was helpful to obtain symbolic solutions or figure-symbolic solutions.

关 键 词：四杆闭链球面机构 位置分析 单开链 球面环路方程 球面三角学 

分 类 号：TH112[机械工程—机械设计及理论]