球面运动的RSRR揉面机构设计  

Spherical Motion Design of the RSRR Kneading Mechanism

作　　者：罗永顺[1] 唐宏[2,3] 杨庆煊[4] 王晓军[1] 

机构地区：[1]广东技术师范学院机电学院,广东广州510665 [2]浙江大学流体传动及控制国家重点实验室,浙江杭州310027 [3]江西理工大学应用科学学院,江西赣州341000 [4]井冈山大学工学院,江西吉安343009

出　　处：《机械设计与制造》2014年第9期84-86,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(51305085)

摘　　要：提出了一种新型的RSRR揉面机构,用球副代替传统的转动副。采用约束螺旋理论对机构完成自由度分析,结果表明RSRR机构是5阶机构,有1个公共约束和1个自由度。采用齐次坐标变换法建立了机构的多刚体运动模型,求得搅拌头的运动情况。并在运动学分析的基础上实现了机构的尺寸综合,得出容器的高度与半径应成两倍关系的结论。通过数值仿真和虚拟样机运动仿真及干涉检查技术,发现若发生干涉,可适当调整容器或搅拌头的尺寸和位置,更加有效地实现了RSRR揉面机构设计。A new sort of RSRR kneading mechanism is proposed, and spherical joint replaced revolute in it. The constraint screw theory is adopted to analyze the degrees of freedom; the results suggest that the RSRR mechanism is a fifih--order mechanism, having a common constraint and one degree of freedom. The method of homogeneous coordinate transform is used to establish the multi-body kinematics model, and stir-welding head＇s movement is obtained. The dimensional synthesis of the mechanism is achieved based on the kinematic analysis, and arrive at the following conclusions that container＇s height is twice radius. The techniques of numerical simulation, virtual prototyping and interference detection are utilized to implement the design of the RSRR kneading mechanism effectively. If the interference happen, the size and gesture of container and stir-welding head will be adjusted.

关 键 词：球面运动 约束螺旋理论 尺寸综合 

分 类 号：TH16[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]