东华大学机械原理课件 机构的结构分析第三节.ppt

The Theory of Machines and Mechanisms Chapter 1. Structural Analysis Sun Zhihong Zhsun@Main Topics Composition principle of mechanism 机构的组成原理 Replace higher pairs with lower pairs? 高副低代 Structural analysis 机构的结构分析 6.Composition principle of mechanism Any mechanism which has a determined motion can be divided into two parts: The first part consists of the frame, the driver(s) and the kinematic pair(s) connecting the frame and the driver(s); The second part is the system of driven links, it is composed of mechanisms whose DOF are 0 (called Assur groups) , they connect to each other by kinematic pairs. Assur Group - Assur Group is a kind of link group whose DOF is zero and no group can be divided further into smaller zero-DOF groups. Such groups are called Assur Groups in memory of Assurs contribution to this subject. The grade of mechanism A mechanism is composed of several different grade Assur groups, its grade is decided by the Assur group which has the highest grade. If the highest grade is II, the mechanism is grade II mechanism; If the highest grade is III, it’s a grade III mechanism; Mechanism that only consists of driver(s) and frame is grade I mechanism, such as a lever. For a kinematic chain, if assign different link as driver, the grade could be different. 7.Replace higher pairs with lower pairs?(高副低代) Conditions of replacement The DOF of the mechanism should not change?after the replacement; The instantaneous(瞬时的) kinematic properties should not change (velocity, acceleration) after the replacement. Methods of replacement Finding the center of the curve at the contact point (找到接触点处构件轮廓线的曲率中心); Draw two circles as revolute pairs at the points and draw a line to connect them (画两个圆作为转动副，然后用线段将他们连接起来) Replacement types: Permanent replacement(永久替代): The kinematic properties before and after replacement are completely same Temporary replacement(瞬时替代) Example 1: Both of the links are circles Example 2：One is a circle, the other is a point.