两自由度五杆铰链机构的有曲柄条件

以五杆机构为例,建立了全铰链两自由度五杆机构的可动性条件及其计算方法,本文导出的五杆机构有曲柄条件的计算方法具有一般意义,计算简单适用,此法对其它两自由度五杆机构（如带移动副）也是适用的。     

二自由度平面五杆机构的双曲柄存在条件

首次划分了二自由度平面五杆机构双曲柄存在的充分条件和必要条件。根据格拉肖夫定理推导出二自由度五杆机构的双典柄存在充分条件;根据装配条件推导了二自由度五杆机构的双曲柄存在原必要条件。     

用杆组法研究闭链二自由度平面铰链五杆机构的双曲柄存在条件

提出了研究闭链二自由度平面铰链五杆机构双曲柄存在充分条件下必要条件的新方法－－“杆组法”。与现有方法相比,新方法思路简单明快、通用性好,推理过程简单清晰,结论形式简洁、概括性强;具有一定的方法论意义和推广价值。     

含RPR Ⅱ级杆组的双自由度五杆机构的曲柄存在条件的研究

应用"杆组法",研究解决了含RPRⅡ级杆组的双自由度五杆机构双曲柄存在的充务条件与必要条件.文献研究成果的重要引伸和推广.思路简单明快、通用性好,推理过程简单清晰,结论形式简洁、概括性强;具有重要的方法论意义和推广价值.     

带有移动副的两自由度五杆机构的可动性条件

以五杆机构为例,建立了带有移动副的两自由度五杆机构的可动性条件及其计算方法,这一原理和方法可以用于更为复杂的两自由度机构。     

平面二自由度全铰链五杆轨迹机构综合方法的研究

对平面二自由度五杆机构的位姿形式及位置逆解进行分析之后,提出了用二自由度辅助机构进行全铰链五杆轨迹机构综合的方法。该方法先将平面二自由度全链五杆机构看成由两个开链二杆机构组成的机构。然后按照给定要实现的轨迹,用二自由度辅助机构分别综合出两个开链二杆机构。最后再将综合出的两个开链二杆机构组合成全链五杆机构。按照此种方法综合出的全铰链五杆机构可精确地实现给定的轨迹,配以合适的驱动方式可进行异形边界及系列边界的加工,本文的研究为特殊类型边界的加工提供了手段。     

关于2-DOF平面五杆机构的双曲柄存在条件的再研究

对"杆组法"的研究思想作重要引伸和推广,发展和深化了"原动件与机架组"极端特征条件、"杆组"适应性条件的重要概念和提法,关于双固定铰链的2-DOF平面五杆机构的4种类型,通过系统、深入研究得到了其双曲柄存在的充分条件和必要条件。研究发现,该方法具有一定的通用性、有效性,可以向多自由度高级别平面机构、空间机构和机器人机构等作重要的延伸和推广。     

平面五杆机构双曲柄存在的充要条件研究

从五杆机构的装配条件出发,研究五杆机构双曲柄存在的充要条件,完整提出五杆机构双曲柄存在的充分条件,分析了研究五杆机构双曲柄存在必要条件的必要性,并建立了研究必要条件的一般方法。给出了lBD的极值与杆长和两个输入运动规律之间的通用关系式,并进行了数值计算验证结论的正确性。对五杆机构的设计和分析具有指导意义。     

混合驱动平面两自由度五杆机构的完全分类

不使用传递角而利用四杆开链机构工作空间的位置关系及可装配条件 ,分析满足混合输入要求的所有五杆机构类型和它们的不等式。它比利用传递角得出的不等式更能确定尺寸关系。根据在混合五杆机构的四个杆中 ,可能为曲柄的杆的个数 ,将它分为三种类型 :无条件三曲柄两种、无条件两曲柄十种和无条件单曲柄十六种。根据五杆机构不出现奇异性的条件 ,进一步得到满足混合输入要求且不出现奇异位置的五杆机构的三种类型。这三种类型为混合五杆机构尺度综合提供重要的尺寸约束条件 ,同时也为混合五杆机构的分析和设计提供重要的理论基础。     

平面五杆机构的机构变换及选型

阐述了五杆机构的型；在五杆机构型综合的基础上，根据同一构件上两移动副元素的外形结构不同，拓展了五杆机构型的范围，并能通过机构变换而得到更多类型的五杆机构。确定了机构的选型原理，据此可以找到具有可控性、柔性、智能化特点的机构。     

Synthesis of adjustable planar 4-bar mechanisms

The ability of planar 4-bar mechanism, to generate various kinds of motion, can be greatly enhanced if it is made adjustable. With a simple adjustment of the position of the driven crank fixed pivot(s), a variety of outputs can be obtained with the same set of hardware.

This paper outlines synthesis techniques for 4-bar linkages, having adjustable driven crank pivots, for different motion generation problems. For a 4-bar mechanism, no more than five design positions can be specified. All the possible maximal motion specifications for the two “phases”, consisting of different combination of the five positions, are enumerated. This leads to four classes of motion generation problems. Synthesis procedure for each class is presented. An example of the P₁-P₂-P₃:P₁-P₄-P₅ case is solved. The method of solution is analytical in nature, and, therefore well suited for use on a digital computer.     

Design of geared 5-bar mechanisms for unlimited crank rotations and optimum transmission

This investigation is concerned with the determination of the rotatability of the geared cranks and the optimization of transmission characteristics of geared 5-bar linkages. Algebraic solutions are shown to be feasible only in a few, special cases. An efficient computer-aided procedure, however, can be used for the general case and for the development of design charts. These charts, which are given for the mechanisms with gear ratio minus one, can be used to determine whether a mechanism of given proportions possesses unlimited crank rotations and to select the floating-link dimensions yielding optimum transmission.     

An overconstrained 5-bar with a plane of quasi-symmetry

By means of algebraic screw system theory, Waldron was able to demonstrate full-cycle mobility for classes of line-symmetric and plane-symmetric linkages. They included some classical loops as special cases. In this paper it is shown that one of Waldron's classes, the general plane-symmetric 5-bar is itself a special case of another 5-bar group, possessing a plane of quasi-symmetry, but basically defined by having two pairs of adjacent screw axes parallel.     

Design equations for the complete shaking force balancing of 6R 6-bar and 6-bar slider-crank mechanisms

The article presents the design equations for complete shaking force balancing of commonly used planar Stephenson's and Watt's type 6R 6-bar and 6-bar slider-crank regular force transmission mechanisms using the method of linearly independent mass vectors. Regular force transmission mechanisms are those in which the shaking force can be completely balanced by distributing the masses of the existing links. Design equations are developed by considering the existing links. Design equations are developed by considering mass distributions of the coupler links and sliders specified whenever possible, so that the counter-balancing masses are mounted on the shafts supported by the fixed frame of the mechanism. Industrial design applications of the design equations given are illustrated in two numerical examples where the shaking force in a Stephenson's Type-1 6R mechanism and a 6-bar double-slider-crank mechanism used in V-engines is balanced.     

带移动副的Ⅲ级六杆机构有曲柄条件

以带移动副Ⅲ级六杆机构为例,采用降级法加以研究,改变Ⅲ级机构的原动件将其变为Ⅱ级机构,并用由此确定的机构极限位置为机构模型建立了带移动副的Ⅲ级六杆机构的有曲柄条件.     

Ten-design-parameter 4-bar synthesis with tolerance considerations

General formulations are developed for the design of 4-bar linkages for the crank-angle coupler-point coordination and rigid body guidance problems. These formulations include a unique five precision-point approach, a least-squares approach, and a least-squares structural plus mechanical error approach. In each approach, the maximum possible number of design parameters, ten, is considered. The methods are then numerically compared for a number of problems.