齿轮五杆机构齿轮链的研究  

Research on Geared Chain of Geared Five-Bar Linkage

作　　者：王君[1] 陶芬 姜荣俊 汪泉[1] WANG Jun;TAO Fen;JIANG Rong-jun;WANG Quan(Center for Robotics Research,School of Mechanical Engineering,Hubei University of Technology,Hubei Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院机器人技术研究中心,湖北武汉430068

出　　处：《机械设计与制造》2022年第5期24-28,32,共6页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51405140);湖北省自然科学基金重点项目(2015CFA112);湖北省教育厅优秀中青年科技创新团队项目(T201505)。

摘　　要：对齿轮五杆机构建立了数学模型,运用Matlab/fsolve函数,分析了传动比及初相角对齿轮五杆机构轨迹曲线的影响,并得出了轨迹曲线的变化周期及周期表达式。利用判别法,结合实例,分析了齿轮五杆机构分支点、分支、子分支及完全旋转性识别过程。研究了传动比及初相角对机构可动性的影响,提出了在机构设计和综合过程中将无分支点作为完全旋转性约束条件,来避免运动缺陷和运动不连续。针对不具有完全旋转性的齿轮五杆机构,提出通过改变传动比及初相角的值来纠正分支,并通过实例进行了验证。该研究结果对齿轮五杆机构的设计或轨迹综合提供了理论依据和参考。Mathematical models of geared five-bar Linkage is established.The influence of transmission ratio and initial phase angle on the trajectory curve of geared five-bar linkage is analyzed by using the fsolve function of MATLAB. And the change period and periodic expression of the trajectory curve is obtained. Based on the discriminant method and example,the process of identifying branch points,branches,sub-branches and full rotatability of geared five-bar linkage is analyzed.The influence of transmission ratio and initial phase angle on the mobility of linkage is studied.The non-branching point is proposed as the constraint condition of full rotatability in the process of mechanism design and synthesis to avoid motion defects and the motion discontinuity.Aimed at the geared five-bar linkage without full rotatability,it is proposed to correct the branch by changing the values of the transmission ratio and the initial phase angle,and verified by example.The research results provide a theoretical basis and reference for the design or trajectory synthesis of geared five-bar linkage.

关 键 词：传动比 初相角 周期 运动缺陷 完全旋转性 MATLAB 

分 类 号：TH16[机械工程—机械制造及自动化] TH122