非预定时标设计要求的球面四杆机构刚体导引综合方法研究  

Dimensional Synthesis of Motion Generation of a Spherical Four-bar Mechanism Without Prescribed Input Angles

作　　者：刘文瑞 司浩天 孙建伟[3] Liu Wenrui;Si Haotian;Sun Jianwei(School of Mechanical Engineering,Hubei University of Arts and Science,Xiangyang 441053,China;Xiangyang Key Laboratory of Rehabilitation Medicine and Rehabilitation Engineering Technology,Xiangyang 441053,China;School of Mechatronic Engineering,Changchun University of Technology,Changchun 130012,China)

机构地区：[1]湖北文理学院机械工程学院,湖北襄阳441053 [2]康复医学与康复工程技术襄阳市重点实验室,湖北襄阳441053 [3]长春工业大学机电工程学院,吉林长春130012

出　　处：《机械传动》2024年第3期35-44,共10页Journal of Mechanical Transmission

基　　金：吉林省教育厅科学技术研究重点项目(JJKH20220672KJ);湖北省自然科学基金项目(2022CFC035)。

摘　　要：通过对标准安装位置的球面四杆刚体导引机构输出的刚体标线进行处理,发现所得的位姿曲线均为圆弧;通过分析位姿特征曲线的形成机制,揭示了位姿特征圆上相邻特征点对应圆心角与机构连杆转角的内在联系,给出了标准安装位置的球面四杆机构设计要求时标补充方法。在此基础上,将该方法推广到一般安装位置球面四杆刚体导引机构中。通过对2维机构安装角度参数和2维机构相对输入角进行优化,实现了一般安装位置的球面四杆刚体导引机构时标的补充,从而借助数值图谱法实现了非预定时标设计要求球面四杆机构刚体导引综合问题的求解。最后,通过算例证明了该时标补充方法的可行性和有效性。By processing the rigid-body poses by the spherical four-bar rigid-body guidance mechanism in the standard installation position,it is found that the pose feature curves,which are generated by taking the processing to the output curves of the mechanism,lie on circles.The formation mechanism of pose feature curves is analyzed,and the internal relationship between the center angle of the adjacent feature points on the pose fea-ture circles and the coupler angle of the spherical four-bar mechanism is revealed.An input angles determina-tion method is proposed for the spherical four-bar rigid body guidance mechanism in the standard installation position.Then,the method is extended to the spherical four-bar rigid-body guidance mechanism in a general in-stallation position.By optimizing the installation angle parameters of the two-dimensional mechanism and the relative input angle of the two-dimensional mechanism to realize the input angles supplement of the spherical four-bar rigid-body guidance mechanism at the general installation position.Use numerical atlas method to solve the motion generation of the spherical four-bar mechanism without prescribed input angles.Finally,the feasibility and effectiveness of the proposed method are demonstrated by examples.

关 键 词：球面四杆机构 位姿特征圆 非预定时标 刚体导引综合 

分 类 号：TH112[机械工程—机械设计及理论]