专题5机构综合之铰链四杆机构综合.pptVIP

铰链四杆机构的连杆曲线 Coupler Point Paths Coupler paths can be quite complex Coupler Point Paths Can specify a maximum of nine points exactly Smooth (polynomial) motion between specified points General approach to complex design task: Identify desired shape of curve Find approximately correct path Use design freedom to optimize design Atlas Entry Linkage From Atlas How to interpret atlas entry: Path Shapes Straight-Line Mechanisms Many four-bars have approxi-mate straight-line segments 铰链四杆机构的连杆曲线方程及其性质 1.连杆曲线方程 解出sinφ，cosφ，代入sin2φ+cos2φ=1 可得铰链四杆机构的连杆曲线应为六阶曲线。。六阶的连杆曲线与一般直线最多有六个交点。 U2+V2=W2 U,V,W见教材公式P90(5-14各式) 有六个参数，a, b, r, R, k,γ 若在给定轨迹中选6个点（xi，yi），i=1~6，分别代入上式，即可得到6个方程，解此6个方程组成的线性方程组，可求得机构的尺寸a, b, r, R, k, 和γ ，其所实现的连杆曲线有6个点与给定轨迹相重合 三重虚圆点六阶曲线 连杆曲线与无穷远直线的交点。化为齐次坐标形式，即设x=X/Z, y=Y/Z,令Z=0 Cognate Construction同源机构 1. Roberts-Chebyschev Theorem（罗培兹-契贝谢夫定理） The theory states for a given coupler-curve there exists 3 four-bar linkages, three geared five-bar linkages, and more six-bar linkages which will generate the same path. The method for generating the additional two the four bar linkages from a single four-bar mechanism is described below, using the Cayley diagram. Wiki: Cognate linkages Three unique four-bar linkages can define the same coupler-curve. The linkages which describe the same coupler curve as a certain linkage are called cognate linkages. This theorem in kinematics is called the Roberts-Chebychev theorem. The linkages can be constructed by using similar triangles and parallelgrams, and the Cayley diagram. Contents:1. Roberts-Chebyschev Theorem2. How to Construct Cognate Linkages3. Conclusions4. References5. See also 2. How to Construct Cognate Linkages 2. 1. Cayley Diagram Example Cayley Diagram for generating Cognate Linkages. From Original Triangle, ΔA1,D,B1 1. Sketch Cayley Diagram 2. Using Parallelograms, Find A2 B3 //OA,A1,D,A2 //OB,B1,D,B3 3. Using Similar Triangles, Find C2 C3 ΔA2,C2,D ΔD,C3,B3 4. Using a Parallelogram, Find OC //OC,C