Analysis and Synthesis of Schatz Six-Revolute Mechanisms
Analysis and Synthesis of Schatz Six-Revolute Mechanisms
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DOI：
10.1299/jsmec.43.80
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发表时间：
2000-03
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影响因子：
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通讯作者：
Chung-Ching Lee
中科院分区：
文献类型：
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作者：
Chung-Ching Lee
基于几何直观和计算机图形学，本文给出了两种Schatz六转机构的构造方法和两种代数曲面，在任意可能的构形下，对应的倒螺旋轴位于这两种代数曲面上。然后，我们推导出一般的运动学封闭形式的解决方案，并显示没有固定的配置，这两个机构使用四乘四矩阵和微分代数。此外，耦合点运动的参数公式提供了一个完整的高阶分析的耦合曲线。在实际应用中，该机构还可通过非线性规划优化方法进行空间综合、轨迹和运动生成综合。最后给出了两个数值例子来说明设计算法。
Based on geometrical intuition and computer graphics, we present the formation of two kinds of Schatz six-revolute mechanisms and two types of algebraic surfaces on which the corresponding reciprocal screw axes lie under any possible configurations. Then, we derive the general kinematic closed-form solutions and show the absence of stationary configuration of both mechanisms using four-by-four matrix and differential algebra. Moreover, the parametric formulations of coupler-point motion provide a complete higher-order analysis of the coupler curve. In practical application, this mechanism is further used for the dimensional synthesis, path and motion generation synthesis, by the nonlinear programming optimization method. At last, two numerical examples are taken to illustrate the design algorithm.