• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2005, Vol. 41 ›› Issue (8): 42-49.

• 论文 • 上一篇    下一篇

4R1P型平面五杆并联机构的可动性与特征图表示

郭为忠;黄其高;邹慧君;高峰;杜如虚   

  1. 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
  • 发布日期:2005-08-15

MOBILITY AND CHARACTERISTICS CHART OF 4R1P-TYPE FIVE-BAR PLANAR PARALLEL MECHANISMS

Guo Weizhong;Huang Qigao;Zou Huijun;Gao Feng;Du Ruxu   

  1. School of Mechanical Engineering, Shanghai Jiaotong University Department of Automation and Computer Aided Engineering, Chinese University of Hong Kong
  • Published:2005-08-15

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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。

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

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 4R1P-type mechanisms and 3R-type open chain mechanisms.

Key words: 4R1P-type five-bar parallel mechanisms, Active prismatic joinf, Characteristics chart, Mobility, Passive, prismatic joint

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