摘要
本文提出了多环空间连杆机构摆动力完全平衡的单位向量法.这种建立于向量代数基础之上的方法,是用在机构各构件上固接相互垂直的三单位向量表示机构的质心方程,再利用闭环向量方程和相邻构件某些单位向量的关系消去一些线性相关的单位向量,从而导出机构的摆动力平衡条件.此方法不需进行坐标变换矩阵的运算,导出的平衡条件为标量形式,推导过程简单,并能得到最少数目的机构平衡条件,文中给出了若干实例.
This article presents the unit vector method for the full shaking force balancing of multi-loop spatial linkages. The method based on the vector algebra does not use the coordinate transformation matrix. Firstly, the three mutually perpendicular unit vectors at links are selected. Secondly, using the unit vectors, the equations of the linkage mass center and the loop equations are derived. Finally, the balancing conditions are given. Using the method, we can simplify the process of deriving the balancing conditions, and obtain the least number of the balancing equations with the scalar form. Several examples are included.
