7杆Goldberg机构的结构参数和位移方程

doi:10.3901/JME.2020.17.082

机械工程学报 ›› 2020, Vol. 56 ›› Issue (17): 82-90.doi: 10.3901/JME.2020.17.082

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7杆Goldberg机构的结构参数和位移方程

牟德君^1,2, 张一同^1,2, 李艳文^1,2, 胡波^1,2, 卢文娟^1,2

1. 燕山大学机械工程学院秦皇岛 066004;
2. 燕山大学河北省并联机器人与机电系统实验秦皇岛 066004

收稿日期:2019-05-30 修回日期:2019-11-04 出版日期:2020-09-05 发布日期:2020-10-19
通讯作者: 张一同(通信作者),男,1945年出生,教授。主要研究方向为机构结构理论。E-mail:ytzhang@ysu.edu.cn
作者简介:牟德君,女,1967年出生,副教授。主要研究方向为并联机构的设计和分析理论。E-mail:djmu@ysu.edu.cn;李艳文,女,1966年出生,教授。主要研究方向为并联机构的设计和分析理论。E-mail:ywl@ysu.edu.cn;胡波,男,1982年出生,教授,博士研究生导师。主要研究方向为并联机构的设计和分析理论。E-mail:hubo@ysu.edu.cn;卢文娟,女,1983年出生,副教授。主要研究方向为并联机构的设计和分析理论。E-mail:luwenjuan@ysu.edu.cn
基金资助:
河北省自然科学基金资助项目（2011203193）。

Structural Parameters and Displacement Equation of 7-Bar Goldberg Mechanism

MU Dejun^1,2, ZHANG Yitong^1,2, LI Yanwen^1,2, HU Bo^1,2, LU Wenjuan^1,2

1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
2. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004

Received:2019-05-30 Revised:2019-11-04 Online:2020-09-05 Published:2020-10-19

摘要/Abstract

摘要： 目前，5杆和6杆Goldberg机构的闭环位移方程都是用相邻杆件外角表示的。为了能更清晰和直观地表达多杆Goldberg机构相邻杆之间的角度关系，给出了用相邻杆件内角表示5杆和6杆Goldberg机构的位移方程。通过对5杆和6杆Goldberg机构的分析，提出了一种新的7杆Goldberg机构，给出了它的用相邻杆件内角表示的结构参数方程和闭环位移方程。通过实例验证了7杆Goldberg机构的闭环位移方程和输入输出方程的正确性。分析并给出了7杆Goldberg机构的存在条件：除了满足连杆和连架杆必要的Bennett约束条件之外，还必须满足不同虚拟环路的机架共线的条件。在理论上拓宽了Goldberg机构的概念和应用范围。

关键词: Goldberg机构, Bennett机构, 7R机构, 闭环位移方程, 型综合

Abstract: At present, the closed-loop displacement equations of 5-bar and 6-bar Goldberg mechanisms are expressed by the outer angles of adjacent links. In order to express the angle relationship more clearly and intuitively between adjacent bars of multi-bar Goldberg mechanism, the displacement equations of 5-bar and 6-bar Goldberg mechanism were expressed by the internal Angles of adjacent bars. Through the analysis of 5-bar and 6-bar Goldberg mechanisms, a new 7-bar Goldberg mechanism was proposed, and its structural parameter equations and closed-loop displacement equations were expressed by the internal angles of adjacent bars were given. The closed-loop displacement equation and the input-output equations of the 7-bar Goldberg mechanism were verified by an example. The existing conditions of the 7-bar Goldberg mechanism were given. In addition to meeting the necessary constraint conditions of Bennett mechanism for side links and connecting link, it must also meet the condition that the frames with different virtual loops must be collinear. In theory, it broadens the concept and the applied range of Goldberg mechanism.

Key words: Goldberg mechanism, Bennett mechanism, 7R mechanism, close-loop displacement equation, type synthesis

中图分类号:

TH112

牟德君, 张一同, 李艳文, 胡波, 卢文娟. 7杆Goldberg机构的结构参数和位移方程[J]. 机械工程学报, 2020, 56(17): 82-90.

MU Dejun, ZHANG Yitong, LI Yanwen, HU Bo, LU Wenjuan. Structural Parameters and Displacement Equation of 7-Bar Goldberg Mechanism[J]. Journal of Mechanical Engineering, 2020, 56(17): 82-90.

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7杆Goldberg机构的结构参数和位移方程

Structural Parameters and Displacement Equation of 7-Bar Goldberg Mechanism

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