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国家教育部博士点基金(20111103120001)

作品数:3 被引量:10H指数:2
相关作者:余跃庆刘婧芳张守丽更多>>
相关机构:北京工业大学更多>>
发文基金:国家教育部博士点基金国家自然科学基金更多>>
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4类具有一级节点的1T对称耦合机构的构型综合被引量:2
2015年
基于1T的2-RRR对称并联机构,提出了一种等自由度对称耦合机构构型综合的新思路,综合出了4类含一级节点的1T对称耦合模型的一系列新机型序列。首先从2-RRR对称并联机构出发,通过添加耦合链,构建含一级节点耦合机构的基本模型;再按照耦合链的不同形式分别设计了4种对称耦合机构;最后以含耦合链的单链为研究对象,分析耦合分支的运动形式,表明这4类耦合机构符合设计要求,为对称耦合机构的型综合设计方法提供了一定的理论依据。
刘婧芳张守丽余跃庆
关键词:并联机构型综合
树状混联机构的约束和运动分析被引量:4
2014年
针对混联机构结构的耦合性和复杂性问题,提出了以广义运动链等效分析法来求解此类混联机构的自由度.基于约束螺旋理论,对一种树状混联机构的约束及运动进行分析,采用广义运动链替换法,将混联机构中的复杂环路等效为等自由度的广义运动链,从而将复杂机构转化为简单机构,正确求得自由度的数目和性质.结果表明:该方法可有效化简机构的复杂结构,简化分析过程.
刘婧芳黄晓欧余跃庆
关键词:混联机构
General Order Principle for Multi-Bennett Linkages被引量:6
2013年
Order analysis for multi-Bennett linkages is a difficult topic in kinematics. Traditional methods fail to obtain the order of multi-Bennett linkages due to considering the special geometric distributions among joint axes. An order principle for multi-Bennett linkages is presented. For a summated multi-Bennett linkage, three procedures are included in the order principle. Firstly, a homogeneous screw equation is obtained by taking linear superposition operations and then the maximum order is determined according to linear dependency of all screws. Secondly, two theorems are employed to determine the maximum order, where the first is used to judge the linear independency of four-system screws and the second is fit for identifying the linear independency of five-system screws. Lastly, all possible cases in the order range are considered until the valid order is screened out. For a syncopated multi-Bennett linkage, an equivalent summated model is built and then the order analysis is the same as that of summated linkages. In order to verify the effectiveness of the presented order principle, the orders of summated 5R and 6R linkages as well as a syncopated 6R linkage are analyzed. The computed orders of the former two summated linkages are both 4 and the computed order of the last syncopated 6R linkage is 5. The results coincide with the prototype data. The advantage of the proposed principle is that it can get the correct order of a multi-Bennett linkage without solving the geometric conditions of joint axes and has wide application in variety of multi-Bennett linkages.
LIU JingfangYU YueqingHUANG ZhenHUANG Xiao'ou
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