平面二自由度七连杆机构分支自动识别研究

doi:10.16731/j.cnki.1671-3133.2017.01.007

现代制造工程 ›› 2017, Vol. 436 ›› Issue (1): 35-41.doi: 10.16731/j.cnki.1671-3133.2017.01.007

平面二自由度七连杆机构分支自动识别研究

王君, 童明浩, 任军, 汪泉, 孙金风

湖北工业大学机械工程学院工业机器人技术研究中心,武汉 430068

收稿日期:2016-01-18 出版日期:2017-01-20 发布日期:2018-01-10
作者简介:王君,通讯作者,博士,教授,研究领域为机器人学,先进制造技术与装备,新能源技术。童明浩,硕士研究生,研究领域为并联机构,并联机器人及操作器。E-mail:junwang@mail.hbut.edu.cn
基金资助:
国家自然科学基金项目(51405140);湖北省自然科学基金重点项目(2015CFA112);湖北省教育厅优秀中青年科技创新团队项目(T201505)

Automatic branch identification of two-DOF seven-bar chains

Wang Jun, Tong Minghao, Ren Jun, Wang Quan, Sun Jinfeng

Center for Industrial Robotics Research,School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,China

Received:2016-01-18 Online:2017-01-20 Published:2018-01-10

摘要/Abstract

摘要： 分支是机构综合和设计中最重要的问题之一。基于关节旋转空间的概念提出了平面七连杆机构分支的分析和识别方法,讨论并分析了它们的关节旋转空间、分支曲线以及分支的特点及形成。利用此方法,将平面二自由度七连杆机构的分支分为两类,且这两种分支可以通过计算机编程自动识别。运用VC++计算机软件将此算法编制成程序,并绘制分支图形。通过对分支图形的分析,使七连杆机构的可动性分析的结果更直观,所有的七连杆机构的可动性信息都可以通过此软件自动获取,从而实现了对平面二自由度七连杆机构的可动性自动识别,为二自由度七连杆机构或并联操作器的设计提供更好的工具。

关键词: 可动性, 分支, 旋转空间, 操作器, 自动识别

Abstract: Branch is one of the important issues in mechanism synthesis and design.Based on the concept of Joint Rotation Space (JRS),presents a simple method for the branch identification of a two-DOF seven-bar planar linkage.The JRS,branch curves,the characteristics and the formation of branches are also discussed.The branches of the two-DOF seven-bar planar linkage can be classified into two categories,which can be automatically identified with computer-aided program.Using the software of VC++,the algorithm can be implemented and the branches of the seven-bar linkage can be visualized with a simplified graphical image.All the mobility information can be easily obtained from the developed software.Hence the branch can be automatically identified.It provides a good tool for the design of two-DOF seven-bar linkages and manipulators.

Key words: mobility, branch, Joint Rotation Space (JRS), manipulator, automatic identification

中图分类号:

TH11
TP319

王君, 童明浩, 任军, 汪泉, 孙金风. 平面二自由度七连杆机构分支自动识别研究[J]. 现代制造工程, 2017, 436(1): 35-41.

Wang Jun, Tong Minghao, Ren Jun, Wang Quan, Sun Jinfeng. Automatic branch identification of two-DOF seven-bar chains[J]. Modern Manufacturing Engineering, 2017, 436(1): 35-41.

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平面二自由度七连杆机构分支自动识别研究

Automatic branch identification of two-DOF seven-bar chains

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