机械原理学习资料-2.structural analysis of mechanisms.pptVIP

需证明当D点滑块拿掉后，仍有AC⊥AD， 即 证明： 即 将D点滑块去掉后,n=3,PL=4,PH=0, 2 3 1 5 B D C A 4 3 2 1 AB=BC=BD AC⊥AD 则 F=3×3－2×4－0=1 2）When two links are connected by more than one parallel sliding pair or more than one revolute pair whose axes coincide, only one of the sliding pair of revolute pair must be counted during the calculation. Others are redundant constraints and must not be counted(两构件组成多个移动副且导路平行，或组成多个转动副且轴线重合，则只考虑一处约束，其他看做虚约束) When two links are connected by more than one higher pair andcommon normal lines coincide, only one of the higher pairs can be counted during the calculation. Others are redundant constraints and should not be counted. (若两构件组成多个高副且公法线重合，则也只考虑一处约束)。As shown in fig. bellow 3）Redundant constraints include symmetrical structure or duplicated structure which have no effect on mechanism motion(对机构运动不起作用的结构对称部分所带来的约束，也存在虚约束). n=3, PL=3, PH=2, So 1 4 3 2 * (第二章 机构的结构分析) Chapter 2: Structure Analysis of Mechanisms (机构结构分析的内容及目的) Contents (内容)： 1）Composition of Mechanism（机构的组成） 2）Conditions for a mechanism to have a determined motion(机构具有确定运动的条件) 3）Degree of freedom(机构的自由度) 4）Composition principle of mechanisms(机构的组成 原理) Goals (目的)： To study conditions for a mechanism to move and to have a determined motion (研究机构在何种条件下可动，具备何种条件时具有确定的相对运动). Contents and goals of structural analysis of mechanisms (机构的组成 ) 1 Links(构件) 2 Degree of freedom of links(DOF,构件的自由度)： A xA yA zA X Y Z O S 2-1 Composition of mechanism Unitbody can move independently(独立运动的单元体). Consisting of one or more elements(由单个或多个零件构成). The number of independent parameters in a mechanism with respect to the frame (构件所具有的独立运动的数目). A X Y O yA xA S 3 Constraint(约束)： 4 Kinematic pairs (运动副)： Constraint number=lost DOF number(构件失去的自由度) To impose restrictions on independent motion (对独立运动的限制). Two links contact directly and have relative motion connection(两个构件直接接触，并能产生 一定相对运动的连接). 1 2 X Y (a) O Y X O 1 2 (b) n n