空间五连杆3R-2C机构的位移分析- 1。关于RCRCR机制的关闭

Journal of Mechanisms Pub Date : 1971-09-01 DOI:10.1016/0022-2569(71)90371-5

J. Duffy , H.Y. Habib-Olahi

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引用次数: 13

摘要

RCRCR机构的封闭表达式是由利用球面三角学导出的对偶方程得到的[1]。导出了Yang[2]得到的四阶输入-输出位移方程的另一种形式。然而，RCRCR机制通常最多有8个闭包。这一结果与第2部分和第3部分中提供的分析一致，其中RRCRC和RCRRC机制都获得了8个闭包。对RCRCR、RRCRC和RCRRC机制的分析，通过利用每次反演的共同数据得到的联动变量的数值图来说明。

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A displacement analysis of spatial five-link 3R-2C mechanisms—I. On the closures of the RCRCR mechanism

Closed form expressions for the RCRCR mechanism are obtained from dual equations which were derived using spherical trigonometry [1].

An alternative form of the degree four input-output displacement equation obtained by Yang [2] is derived. However, it is demonstrated that the RCRCR mechanism has generally a maximum of eight closures. This result is consistent with the analysis presented in Parts 2 and 3 where eight closures are obtained for both the RRCRC and RCRRC mechanisms.

The analysis for the RCRCR, RRCRC and RCRRC mechanisms is illustrated by plottings of numerical values of linkage variables which were obtained using data common to each inversion.

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Journal of Mechanisms

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