可控RRRPP型机构的可动性与轨迹图谱研究  

Research on Mobility and Trajectory Atlas of Controlled RRRPP Mechanism

作　　者：宋胜涛[1] 赵建文[1] 马瑶[1] 金航旭 

机构地区：[1]中北大学机械与动力工程学院,太原030051

出　　处：《组合机床与自动化加工技术》2017年第4期14-17,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(51275486)

摘　　要：文章以RRR型和PPR型二级杆组为基本杆组所组成的RRRPP构型为研究对象,首先,在选定原动件以及运动类型的前提下,分析了机构的可达工作空间以及奇异位形,得到了该机构的可动性边界条件;其次,在此基础上,研究了机构在不同可控因素下末端输出点的轨迹图谱;最后,研究了快速绘制机构的灵活工作空间的方法。研究结果为工程设计者在给定的工作轨迹设计机构时提供了有价值的参考。This paper uses the RRRPP configuration formed by the basic lever RRR and PPR assur group grade Ⅱ as the research object,firstly,on the basis of the driving link and its motion type was selected,the reachable workspace and singular configuration of mechanism was analyzed,the mobility boundary conditions of mechanism was obtained; Then,based on which,the trajectory atlas of the end-effector of mechanism under different controllable factors was analyzed; Finally,the method of rapid-drawing the flexible workspace of the mechanism was analyzed.The results provides a valuable reference for the engineering designers to design mechanism with specific work trajectory.

关 键 词：RRRPP型机构 工作空间 奇异位形 可动性 轨迹图谱 

分 类 号：TH112[机械工程—机械设计及理论] TG506[金属学及工艺—金属切削加工及机床]