基于线性输入输出关系的空间连杆机构设计

通过对机构设计要求和初始条件的分析,提出两种典型的设计方案,一种是RSSR机构,另一种是双RSSR机构。以CATIA为平台,按自顶向下的设计思路,进行空间连杆机构的结构设计,并在CATIA运动模拟机构中进行运动模拟,比较了两种方案的运动传递特性。分析指出,在输入角度较小的情况下,两种机构的输入量与输出量之间均能保持良好的线性关系;适当选择构件尺寸,双RSSR机构能基本保持输出与输入相等。而RSSR机构能否保持输出与输入相等主要受到初始条件的限制。

Design of the Spatial Linkage Mechanism based on Linear Relationship between its Input and Output

With respect to the designing requirements and constraints of the mechanism,two options,the RSSR mechanism and the dual-RSSR mechanism,are constructed based on CATIA with the top-down design ideas.The kinematic simulation of the model is conducted.The motion transmission characteristics of the two schemes are compared.A conclusion is drawn that for either RSSR mechanism or dual-RSSR mechanism the input and the output keep linear under the condition that the input angle is small.And for the dual-RSSR mechanism the output is approximately the same as its input by optimizing parameters of the mechanism structure.But for RSSR mechanism,those depend on the initial condition.