摘要
应用隐函数定理 ,推导出平面闭链五杆机构柔性工作空间边界的条件 ,即输出杆与相连的连架杆共线及另一连架杆与相连的连杆共线 .分析了满足混合输入及不出现奇异位置 (即两连杆不共线 )的 3种混合输入五杆机构类型 ,其工作空间边界曲线的构成及其特征 .提出了混合输入五杆机构的工作空间求解算法 。
By using the implicit function theorem, the condition of flexible workspace boundary of a plane closed loop five bar mechanism was derived. The output bar and conjoint side link are collinear, and the other coupler and conjoint side link are collinear. Under the condition of no singular position and satisfying requirement of hybrid drive, it analyzes the boundary curve construction and feature of the three types of hybrid input five bar mechanism. Based on the analysis, it puts forth a solution algorithm of the workspace of hybrid input five bar mechanism. Some examples were given to validate those mathematical models.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2001年第12期1821-1824,共4页
Journal of Shanghai Jiaotong University
关键词
混合输入五杆机构
柔性工作空间
隐函数定理
hybrid input five bar mechanism
flexible workspace
implicit function theorem
