平面运动链型综合组合法开链规划的一种改进方法

提出了平面闭式运动链型综合组合法中开链规划的改进方法。为获得给定自由度和构件数的全部独立的运动链结构类型,按照构件数递增的顺序,将开链与相应的闭链进行组合。在开链规划中,如果必要仅需对单杆开链增设铰链,然后依次选定二杆开链、三杆开链等,直到自由度加一的两副杆串联开链,开链规划即可停止。指出了上述方法在型综合应用中的正确性,并从理论上进行了探讨。

An Improved Method for Programming Open Chain in Combination Method of Type Systhesis for Planar Kinematic Chain

In this paper, an improved method for programming open chain is presented. This method is in the combination method of type synthesis for planar kinematic chain. For all independent structural type of kinematic chain with bar number given, by increasing progressively to bar number, we make the open chain combine with the corresponding closed chain, which is a common kinematic chain. In programming open chain, we put additional joint on the open chain that has one bar only. After that, we choose the series-connection open chain formed by two joints bar. The bar number of these open chains is respectively chosen to be two, three, until the number of one plus the degree of freedom of the synthesis kinematic chain. The correctness of that conclusion in the application of type synthesis is verified.