机械原理 英汉双语 教学课件 作者 张春林 Chapter 10 Spatial Mechanisms and Robotic Mechanisms.pptxVIP

Chapter 10 Spatial Mechanisms and Robotic Mechanisms;1. Spatial Kinematical Pairs;(3) Class Ⅲ kinematic pairs Each class Ⅲ kinematic pair offers three constraints and three degrees of freedom. Fig.10-2a shows a spherical pair which constrains translational motions along the x, y and z axes while offers three rotational motions about these axes, denoted as S. Fig.10-2b shows the sketch diagram of the spherical pair. This pair is widely used in spatial mechanisms.;(4) Class Ⅳ kinematic pairs Every class Ⅳ kinematic pair offers four constraints and two degrees of freedom. Fig.10-3a shows a sphere pin pair which has only two rotational degrees of freedom because of the constraint of the pin. The sphere pin pair is denoted as S′.Fig.10-3b is its sketch diagram. Fig 10-c shows a cylinder pair which permits the translational motion along its axes and the rotational motion about the same axis. Fig 10-d shows its sketch diagram and denoted as C.;(5) Class Ⅴ kinematic pairs A class Ⅴ kinematic pair offers five constraints and one degree of freedom. Fig 10-4a shows a revolute pair which has only one rotational degree of freedom. Fig 10-4b is its sketch, denoted as R. Fig 10-4c shows a prismatic pair which has only one degree of freedom that permits it to execute translational motion along the axes, denoted as P. Fig.10-4d shows its sketch. Fig 10-4e shows a helical pair which permits the translational motion along its axis and the rotational motion about the same axis. ;2. Degrees of Freedom of Spatial Mechanisms;Fig.10-5　Aircraft undercarriage(飞机起落架);(2) Classification of spatial mechanisms The spatial mechanisms are classified as closed chain mechanisms and open chain mechanisms, according to the kinematical chain is closed or open. The open chain mechanisms are widely applied to the robot field. Fig.10-6a shows a RSSR mechanism, in which links 1, 2, 3 and the fixed link 4 are connected by revolute pairs and spherical pairs. It is a closed spatial mechanism. Fig.10-6