7杆Goldberg机构的结构参数和位移方程  

Structural Parameters and Displacement Equation of 7-Bar Goldberg Mechanism

作　　者：牟德君[1,2] 张一同[1,2] 李艳文[1,2] 胡波[1,2] 卢文娟[1,2] MU Dejun;ZHANG Yitong;LI Yanwen;HU Bo;LU Wenjuan(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004;Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao 066004)

机构地区：[1]燕山大学机械工程学院,秦皇岛066004 [2]燕山大学河北省并联机器人与机电系统实验,秦皇岛066004

出　　处：《机械工程学报》2020年第17期82-90,共9页Journal of Mechanical Engineering

基　　金：河北省自然科学基金资助项目(2011203193)。

摘　　要：目前,5杆和6杆Goldberg机构的闭环位移方程都是用相邻杆件外角表示的。为了能更清晰和直观地表达多杆Goldberg机构相邻杆之间的角度关系,给出了用相邻杆件内角表示5杆和6杆Goldberg机构的位移方程。通过对5杆和6杆Goldberg机构的分析,提出了一种新的7杆Goldberg机构,给出了它的用相邻杆件内角表示的结构参数方程和闭环位移方程。通过实例验证了7杆Goldberg机构的闭环位移方程和输入输出方程的正确性。分析并给出了7杆Goldberg机构的存在条件:除了满足连杆和连架杆必要的Bennett约束条件之外,还必须满足不同虚拟环路的机架共线的条件。在理论上拓宽了Goldberg机构的概念和应用范围。At present, the closed-loop displacement equations of 5-bar and 6-bar Goldberg mechanisms are expressed by the outer angles of adjacent links. In order to express the angle relationship more clearly and intuitively between adjacent bars of multi-bar Goldberg mechanism, the displacement equations of 5-bar and 6-bar Goldberg mechanism were expressed by the internal Angles of adjacent bars. Through the analysis of 5-bar and 6-bar Goldberg mechanisms, a new 7-bar Goldberg mechanism was proposed, and its structural parameter equations and closed-loop displacement equations were expressed by the internal angles of adjacent bars were given. The closed-loop displacement equation and the input-output equations of the 7-bar Goldberg mechanism were verified by an example. The existing conditions of the 7-bar Goldberg mechanism were given. In addition to meeting the necessary constraint conditions of Bennett mechanism for side links and connecting link, it must also meet the condition that the frames with different virtual loops must be collinear. In theory, it broadens the concept and the applied range of Goldberg mechanism.

关 键 词：Goldberg机构 BENNETT机构 7R机构 闭环位移方程 型综合 

分 类 号：TH112[机械工程—机械设计及理论]