Identification of motion domains of planar six-link mechanisms of the Stephenson-type
Identification of motion domains of planar six-link mechanisms of the Stephenson-type
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DOI：
10.1016/j.mechmachtheory.2003.12.003
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发表时间：
2004-10
影响因子：
5.2
通讯作者：
Katsumi Watanabe;Hiroaki Katoh
中科院分区：
文献类型：
--
作者：
Katsumi Watanabe;Hiroaki Katoh
斯蒂芬森-3六杆机构的输出位移的解析解的输入位移的值包含相应的解决方案，在不同域的运动的驱动链接链配置。这些运动域对应于由两个极限点分开的耦合曲线的部分或由极限点和转折点分开的两个部分的连接，或者耦合曲线或由两个转折点分开的其部分。本文将这些运动域映射到四条数线上，用雅可比矩阵行列式的符号和外二联杆间相对角的正弦符号来判别。因此，输入和输出位移之间的每个关系都被计算为连续函数。并阐明了驱动运动域与电路、分支的关系。
Analytical solutions of the output displacement of the Stephenson-3 six-link mechanism for a value of the input displacement contain solutions corresponding to link-chain configurations in different domains of motion of the driving link. These domains of motion correspond to either parts of the coupler curve separated by two limit points or connections of two parts separated by limit and turning points, or the coupler curve or its parts separated by two turning points. In this paper, these domains of motion are mapped on four number lines, which are discriminated by the sign of the determinant of the Jacobian matrix and the sign of the sine of the relative angle between two links of the external dyad. Consequently, every relationship between input and output displacements is calculated as a continuous function. Moreover, the relationships between the domain of motion of the driving and the circuit, the branch are made clear.