连杆混合驱动机构设计.doc

编号 本科生毕业设计 连杆混合驱动机构设计 Research On The Hybrid-drive Linkage Mechanism 学 生 姓 名 专 业 机械设计制造及其自动化 学 号 指 导 教 师 分 院 机电工程分院 年 月 中文摘要 本文以两曲柄分别为连杆和连架杆的一类混合输入五杆机构作为研究对象，围绕此机构对运动学、混合驱动可控机构的结构学和优化综合问题进行了研究。内容为: 1) 对该机构进行奇异性分析，得出该机构出现奇异位形的两种类型。 2) 从机构的装配条件出发，对机构进行可动性分析，确定了该曲柄— 连杆机构的双曲柄存在条件。 3) 应用上述分析结果，对该曲柄—连杆机构进行优化综合。针对两种不同的运动类型，分别建立了基于正运动学分析和逆运动学分析的优化综合数学模型，为混合驱动可控机构的优化综合提供了理论方法。并通过实例分析证明了优化后的机构性能有了很大的改善。 4) 分别对机构进行正运动学和逆运动学分析，并通过算例验证机构的存在性和公式推导的正确性。 关键词:混合输入五杆机构：优化综合;奇异性分析;运动分析;Abstract In this paper, take the hybrid input five-bar mechanism for double crank based on link-rack ram and linkage as subject investigated. This research is mainly around this mechanism. Research content is focused on the followings Firstly, set out from the assembly conditions, them obility of this mechanism was analyzed, the existence condition of this mechanism was determined. Secondly, by analyzing the conditions of singularity, this paper conclude the styles of existing the two kinds of singularity. Thirdly, a nalyse based on for ward kinematic sand inversek in ematics, some examples verify the existence of the mechanism and the correctness of formula deduction. Finally , this paper presents the optimal synthesis of crank-linkage mechanism. Regard two different style as the goal, set up different optimal synthesis model on the base of forward kinematics and inverse kinematics analyses. Offered the theory method for the Optimal shnthesishy brid-drivenand controlled mechanism. The results of optimal synthesis example sverifies the institution performance have a great improvement after optimization. Key words:hybrid analyses input five-barmechanism optimal synthes analysis of singularity ematics ; 目 录 第一章 绪论 1.1混合驱动连杆机构概述..............................................1 1.2连杆的叙述........................................................1 1.3本文的主要工作内容........................................