变曲柄长度的凸轮-连杆组合机构运动学分析

变曲柄长度的凸轮连杆机构不仅可以实现复杂的运动,而且与基本的凸轮机构相比,可以大大减小机构的总体尺寸。本文立足于对变曲柄长度的凸轮连杆组合机构组合方案的分析,在对机构进行运动分析及尺寸计算的基础上,建立了运动方程式。     

摆动从动件凸轮-连杆组合机构的解析法设计

介绍了实现给定轨迹曲线的滚子摆动从动件凸轮－连杆组合机构的化廓线的解析法设计方法，特色是如何解决在设计中杆组模式改变的现象。     

固定凸轮连杆组合机构的设计

固定凸轮连杆组合机构的设计周洪，蔡培（浙江工业大学）１前言固定凸轮连杆组合机构广泛应用于轻工机械中。如图所示，曲柄ＡＢ既绕Ａ轴旋转又沿导套移动，曲柄长度变化完全由固定凸轮槽控制。在铰销中心Ｂ处装有滚子，滚子沿凸轮槽运动，通过连杆ＢＣ使滑块产生所需的往...     

解析法设计双凸轮-连杆组合机构

凸轮-连杆组合机构是由凸轮机构和连杆机构按一定工作要求组合而成的。它综合这两种机构各自的优点。具有广泛的应用潜力。介绍当连杆末端的轨迹曲线给定，如何采用解析法精确设计滚子摆动从动件双凸轮-连杆组合机构的凸轮廓线。     

新型连杆凸轮组合机构

创新了一种可实现定传动比传动的连杆凸轮组合机构;分析了该机构的传动原理、传动比计算;推导出了凸轮理论廓线及其切线与法线的数学方程;利用解析法求出了各高副接触点公法线汇交点的坐标值,给出了节圆的概念;建立了凸轮理论廓线上任意一点压力角表达式;推导出了主从动构件的力矩关系式。基于这种机构成功研制了一种新型连杆凸轮减速器。     

滚子摆动从动件双凸轮-连杆组合机构的设计

采用输出轨迹点运动与凸轮旋转同步的思路,提出并解决了按给定的轨迹曲线来设计摆动从动件双凸轮-连杆组合机构的凸轮廓线的解析设计方法。     

行星式链—连杆组合机构的运动分析

本文首次建立了行星式链——连杆组合机构运动分析的数学模型;编制了该机构运动分析的计算机程序,并将计算机的输出结果用其它方法进行了检验;本文还针对该类机构的特点,提出了“链长运动循环”这一新术语,并给出了它的定义。     

凸轮机构运动误差分析

一、前言 近年来,我国轻工、纺织等系统先后从国外引进了一些先进机械装备,因而对引进机械设备进行消化、吸收、使用和改进,是当前我国机械设计部门的一项重要研究课题。凸轮机构是各种机械装备中,特别是自动机械中最常用的执行机构之一。因此,凸     

凸轮连杆组合机构解析法设计

为了解决末端从动件按一定运动规律往复运动的凸轮连杆组合机构的设计问题,采用解析法对凸轮连杆组合机构进行求解,推导出凸轮连杆组合机构的设计理论公式,然后利用MATLAB对理论公式进行编程计算,并绘制出凸轮理论轮廓曲线,再使用Adams求出第二条凸轮轮廓曲线进行对比验证.利用推导出的设计理论公式,并借助MATLAB和Ada...     

包装机凸轮连杆组合机构的动态特性分析

为了满足包装机的高速度、高精度和高质量的要求,多种组合形式的组合机构得到广泛应用。在高速运转的情况下,整个机构系统容易发生振动,使执行构件的运动规律满足不了设计要求。以巧克力包装机的凸轮连杆滑块组合机构为研究对象,对该组合机构动力学进行了研究,通过构件等效替代,建立了相应的动力学模型,运用达朗贝尔定理建立动力学平衡方程,并利用Matlab/Simulink软件对其动态特性进行了仿真分析,获得了相应实际加速度输出曲线。该方法为凸轮连杆组合机构设计的动态特性分析提供了一种直观的方法。     

平面高副机构的运动分析

根据高副元素接触点处的径矢和幺法矢必须相等，且接触点处的幺法矢和相对运动速度矢量相互垂直的约束条件，提出了一个3自由度5杆平面高副机构的通用分析模型，给出其高副约束议程，据此可以求解RHR，RHP及PHP型三类单自由度平面高副机构的传动比函数及其导数。     

Development and kinematic calibration for measurement structure of a micro parallel mechanism platform

This paper presents a micro-positioning platform based on a unique parallel mechanism developed by the authors. The platform has a meso-scale rectangular shape whose size is 20 × 23 mm. The stroke is 5 mm for both the x-and y-axes and 100 degrees for the α-axis. The platform is actuated by three sets of dual stage linear actuators: a linear motor for rough positioning and a piezo actuator for fine positioning. The developed micro-positioning platform has a measurement system that consists of three linear sensors. The position and orientation values of the movable platform can be measured directly and used in a feedback control system. Selecting 18 kinematic error parameters of a measurement system (feedback control system), a two-stage kinematic calibration method is proposed. Constant error parameters are found in the first stage and variable error parameters are found in the second stage of kinematic calibration. After kinematic calibration the position error is reduced to within 0.5 μm and error reduction rate is over 90%.     

任意平面连杆机构运动分析通用程序KAPL（SOC）的研制及其应用

本文运用作者研制的通用程序ＫＡＰＬ（ＳＯＣ），完成了一系列复杂机构的结构自动分解、运动量自动求解、机构动态及运动线图自动显示等工作。一方面，为其优化设计、运动误差及动力学研究提供了基础数据；另一方面，进一步验证了软件ｋＡＰＬ（ＳＯＣ）具有较高的自动化程度、正确性及通用性，可供教学、科研及设计部门使用。     

含有 a~k 的平面机构运动分析的演变结构法

本文根据移动副的运动特性，提出了对含有哥氏加速度的平面机构进行运动分析的演变结构法。该方法的主要特点是：选取重合点时无需进行构件扩大。     

The establishment and reasoning of knowledge base system for mechanism kinematic schemes

As one of the key problems of computer-aided conceptual design (CACD) for mechanism kinematic schemes, the effective establishment and management of knowledge base systems of kinematic behaviours and mechanisms is still troubled by information redundancy and unreasonable structure at present. Retrieval efficiency and solving intelligence of knowledge base reasoning systems on the basis of the knowledge classification method mentioned above have many unsatisfactory factors. So in this paper, firstly, data standardization technology and combined classification methods have been applied to carry out the classification of kinematic behaviours and mechanisms in the mapping field between the kinematic behaviour level and the mechanism level of conceptual design. Also, the principle of computer coding and storing have been built to give a fast and broad selection of mechanisms that meets the requirements of basic motion characters. Then on the basis of what was mentioned above, the heuristic matching propagation principle (HMPP) of kinematic behaviours and its truth table serve as a guide to perform mechanism type selections. The knowledge base automatic reasoning system of mechanism kinematic schemes based on HMPP is developed. By means of depth first search strategy, the motion requirements are matched against objects in the knowledge base along the orientation of function unit-mechanism IDfunction unit IDkinematic behaviour ID(output/input)motion type coding/ continuity coding/linearity coding/directionality coding at four different levels of abstraction. Top-down design process in this paper conforms to the law of innovative thinking for designers. If a direct match in a higher level was not discovered, then the design course will be transformed into the match at a low level automatically. According to the truth table of HMPP, once non-zero elements in kinematic behaviour ID (1 or 2) appear in the matching process, they will propagate until the solving process is over, and become one of the coding of the feasible solutions. The heuristic nature of HMPP presents a top-down solving method to decompose the complex requirements into several simpler ones. Different from traditional solving methods, the method presented in our research work has two advantages. Firstly it is easier to be operated and realized with a computer. Secondly, it is a creative process by nature. Finally, an application is given to indicate its practicability and effectiveness.     

曲柄齿条机构的运动分析与综合

曲柄齿条机构[1]可以实现从动件作摆角变化范围很大的摆动且传动角为常数。本文分析了该类传动机构的传动函数及输出齿轮的极限摆角；提出了已知输出齿轮的摆角设计该类机构的数值迭代方法并给出了设计实例；指出了文献[2]、[3]中关于该类机构输出齿轮极限摆角公式的错误。     

基于ADAMS的巡线机器人压紧机构的运动学仿真

对吊臂式高压线检测机器人的压紧机构进行姿态分析,并建立了运动学约束方程,运用ADAMS软件对其三维实体模型进行运动学仿真,通过对仿真曲线的分析验证了设计方案的可行性.     

The design of kinematic chains based on the principle of invariable terminal constraints

This paper presents a systematic method to analyze the design of kinematic chains based on the invariable principle of terminal constraints. According to the reciprocal screw theory, the terminal constraints of a kinematic chain are decided by the maximal independent set of the kinematic screws. Therefore, the optimum kinematic chain can be obtained through algebraic analysis with the given terminal constraints.     

铰杆-杠杆串联组合机构分析及其应用

在对长度效应的杠杆增力机构和基于角度效应的铰杆增力机构进行分析分类的基础上,用串联、对称、反向、双向对中输出、双向浮动输出等创新演绎方法,创新设计出了系统性的单边铰杆-杠杆串联组合增力机构和双边铰杆-杠杆串联组合增力机构,形成了该类机构的完整图谱,并对各类型机构进行了力学分析,最后应用到实践中。     

Modelling,kinematic parameter identification and sensitivity analysis of a Laser Tracker having the beam source in the rotating head

This paper presents a new kinematic model, a parameter identification procedure and a sensitivity analysis of a laser tracker having the beam source in the rotating head. This model obtains the kinematic parameters by the coordinate transformation between successive reference systems following the Denavit–Hartenberg method. One of the disadvantages of laser tracker systems is that the end-user cannot know when the laser tracker is working in a suitable way or when it needs an error correction. The ASME B89.4.19 Standard provides some ranging tests to evaluate the laser tracker performance but these tests take a lot of time and require specialized equipment. Another problem is that the end-user cannot apply the manufacturer’s model because he cannot measure physical errors. In this paper, first the laser tracker kinematic model has been developed and validated with a generator of synthetic measurements using different meshes with synthetic reflector coordinates and known error parameters. Second, the laser tracker has been calibrated with experimental data using the measurements obtained by a coordinate measuring machine as nominal values for different strategies, increasing considerably the laser tracker accuracy. Finally, a sensitivity analysis of the length measurement system tests is presented to recommend the more suitable positions to perform the calibration procedure.