全 R 副空间连杆机构摆动力和摆动力矩的完全平衡

提出了利用质量配重和惯性配重实现全Ｒ副空间连杆机构摆动力和摆动力矩完全平衡的质量动替代法。其基本思路是通过质量动替代的途径，将空间闭链机构摆动力和摆动力矩的完全平衡转化为空间树状链摆动力和摆动力矩的完全平衡。文中导出了ＲＲ构件的质量动替代的条件与公式以及空间树状链摆动力和摆动力矩完全平衡的条件，由此可简便地直接构造出任意全Ｒ副空间闭链机构摆动力和摆动力矩的完全平衡条件。最后讨论了Ｂｅｎ－ｎｅｔ机构摆动力和摆动力矩的完全平衡条件及其实现方法。

Complete Balancing of Shaking Force and Shaking Moment of Spatial Lingkages Involving R Pairs

This paper presents a mass dynamic substitution method to formulate the conditions for complete balancing of shaking force and shaking moment of spatial linkages involving R pairs by using counter weights and inertia counter weights. Using the mass dynamic substitution concept, the complete balancing of shaking force and shaking moment of closed loop spatial linkages may be reduced to that of open loop spatial kinematic chains. Condition and formulae for mass dynamic substitution of the RR link and conditions for complete balancing of shaking force and shaking moment of open loop spatial kinematic chains are derived from which conditions for complete balancing of shaking force and shaking moment of spatial linkages can be formulated in an easy and direct way. The complete balancing of shaking force and shaking moment of Bennett mechanism is presented to illustrate the application of the proposed approach.