平面3-DOF PRR-RRP型六杆机构的曲柄存在条件  

Crank Existence Condition of Planar 3-DOF PRR-RRP Type Six-bar Mechanism

作　　者：宋杰[1] 梅瑛[1] 李瑞琴[1] 

机构地区：[1]中北大学机械工程与自动化学院,山西太原030051

出　　处：《机械传动》2013年第11期32-34,170,共4页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(51275486);山西省自然科学基金资助项目(2010011036-1)

摘　　要：针对平面3-DOF PRR-RRP型六杆机构,引入虚杆概念。通过虚杆等效方法,将六杆机构等效为四杆杆链。基于Grashof定理,全面分析了PRR-RRP型六杆机构各构件长度与曲柄存在的关系。根据机构的装配关系,推导出不同杆长关系下的曲柄存在条件,并给出判定PRR-RRP型六杆机构曲柄的程序流程图。该条件为平面3-DOF PRR-RRP型六杆机构的设计与优化奠定了基础。By introducing the concept of virtual link, the relationship between the crank existence condition of a four - bar chain and the link lengths of the mechanism is analyzed based on the Grashof theorem. The four - bar chain is a virtual equivalent mechanism of planar 3 - DOF PRR - RRP six - bar mechanism. According to the relationship of the mechanism assembly, the crank existence conditions are obtained under the different relationship among link lengths. A program is developed to determine th~ crank existence conditions of planar 3 - DOF PRR - RRP six - bar mechanism. The results are the design and optimization basis of planar 3 - DOF PRR - RRP six - bar mechanism.

关 键 词：3-DOF PRR—RRP型 六杆机构 虚杆等效 

分 类 号：TH112[机械工程—机械设计及理论]