闭环联动机构的创新设计及应用  

Innovative design and application of looped-synchronous mechanism

作　　者：王旭[1,2] 郭为忠 WANG Xu;GUO Wei-zhong(Intelligent Manufacturing R&D Department,Shipbuilding Technology Research Institute,Shanghai,Shanghai 200030;State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240)

机构地区：[1]上海船舶工艺研究所智能制造装备研发部,上海200030 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《机械设计》2022年第1期1-12,共12页Journal of Machine Design

摘　　要：闭环联动机构(Looped-Synchronous Mechanism,LSM)是一种特殊的单自由度闭式传动机构,具有许多相似的单元,可以产生给定传动比规律的输出。LSM构件和运动副需要满足特定的约束,其构型综合与尺度设计需要相应的方法。首先,提出基于空间Assur杆组的构型方法,基于自由度计算找出空间杆组运动副的所有组合形式,并选取两个可行的组合作为LSM基本单元,与原动机和机架连接。其次,分析出机构实现首尾闭环与联动时各级空间杆组传动比(时间相关)需要满足的约束条件,推导出空间杆组传动比与机构参数关系。然后,针对传动比无法严格满足的情况,建立闭环联动机构参数优化方法,近似实现给定的传动比规律。最后,给定11种传动比和4种结构形式进行数值和运动仿真,验证了方法的有效性。Looped-synchronous mechanism(LSM)is a special one degree-of-freedom(DOF)closed chain of transmission with a large number of similar units that coordinates the transmission ratios of motion of many output links.A large number of links and joints of LSM need specific means for type-and dimensional-synthesis,for example,the spatial Assur-group with a little number of parts and joints in this work.Firstly,based on the formula of DOF of spatial Assur-groups,all possible combinations are found and two feasible ones are chosen as the most basic units of LSM,in combination with a prime mover to meet the requirement to be inexpandable and moveable.Secondly,the condition for the transmission ratio of the used Assur-group to be any time-related functions ia distilled for being synchronous and looped by exploring the needed dimensional conditions of those mechanism parameters.Thirdly,after confirming that it is impossible to meet the requirement strictly,an optimization method in the environment of Simulink is used to approach the condition as close as possible.Finally,11 kinds of transmission ratio and 4 kinds of configurations are given to conduct a series of numerical and motion simulation,therefore verifying that the mentioned method is effective.

关 键 词：闭环联动机构 空间Assur杆组 构型综合 尺度设计 多传动比 

分 类 号：TH122[机械工程—机械设计及理论]