| 4R1P型平面五杆并联机构的可动性与特征图表示 |
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| 引用本文： | 郭为忠,黄其高,邹慧君,高峰,杜如虚.4R1P型平面五杆并联机构的可动性与特征图表示[J].机械工程学报,2005,41(8):42-49. |
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| 作者姓名： | 郭为忠 黄其高 邹慧君 高峰 杜如虚 |
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| 作者单位： | 上海交通大学机械与动力工程学院;香港中文大学自动化与计算机辅助工程学系 |
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| 基金项目： | 国家自然科学基金(50405017,50125516,50275092)
上海市教委青年基金(01QN10)
香港中文大学基金(5100002646)资助项目。 |
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| 摘 要： | 针对4R1P型平面五杆并联机构，引入虚杆概念。基于Grashof定理，将滑块可达空间分割为若干可动性不同的子域。根据三根RR型构件的杆长关系，将运动链与机构划分为三类和若干子类，给出其可动性的特征图表示。在此基础上，根据移动副参数、滑块位置、构件结构约束以及移动副的主动与否，具体得出运动链与机构的可动性。特征图分析方法适合于4R1P型所有平面机构和3R型平面开链机构。
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| 关 键 词： | 4R1P型平面五杆并联机构 从动移动副 可动性 特征图表示 主动移动副 |
| 修稿时间： | 2005年1月5日 |
MOBILITY AND CHARACTERISTICS CHART OF 4R1P-TYPE FIVE-BAR PLANAR PARALLEL MECHANISMS |
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| Guo Weizhong,Huang Qigao,Zou Huijun,Gao Feng,Du Ruxu.MOBILITY AND CHARACTERISTICS CHART OF 4R1P-TYPE FIVE-BAR PLANAR PARALLEL MECHANISMS[J].Chinese Journal of Mechanical Engineering,2005,41(8):42-49. |
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| Authors: | Guo Weizhong Huang Qigao Zou Huijun Gao Feng Du Ruxu |
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| Affiliation: | School of Mechanical Engineering, Shanghai Jiaotong University Department of Automation and Computer Aided Engineering, Chinese University of Hong Kong |
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| Abstract: | By introducing the concept of virtual link, the mobility of the 4R1P-type planar parallel chain/mechanisms is analyzed based on the Grashof theorem. The slide reachable range is divided into several characteristically different regions and the closed chain/mechanisms are categorized into three classes and further several sub-classes. The characteristics charts for different classes are given based on which the mobility is got according to the active/passive prismatic joint, the slide position, and the real structure of the links. The presented method is helpful to all the 4RlP-type mechanisms and 3R-type open chain mechanisms. |
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| Keywords: | 4R1P-type five-bar parallel mechanisms Mobility Characteristics chart Active prismatic joinf Passive prismatic joint |
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