Design method of single-degree-of-freedom six-rod mechanism with mixed pose constraints

Abstract

The invention discloses a design method of a single-degree-of-freedom six-rod mechanism with mixed pose constraints. Research of an existing single-degree-of-freedom six-rod mechanism motion comprehensive method basically aims at four or five precise poses, but for a slightly complex track, an ideal target track cannot be obtained only by means of constraint of the four or five precise poses. Themethod comprises the following steps: 1, selecting an accurate pose and an approximate pose in a target track; 2, giving a 3R chain opening rod group; 3, adding a first RR constraint rod piece; and 4,adding a second RR constraint rod piece to complete the target six-rod mechanism. According to the design method of the single-degree-of-freedom six-rod mechanism with mixed pose constraints, the single-degree-of-freedom six-rod mechanism end effector can perform more accurate complex track motion. The error range of the K approximate poses is given in advance, the mechanism solution domain synthesized by the method is wider, and the mechanism solution domain can be adjusted by controlling the errors of the approximate poses.

Description

technical field [0001] The invention belongs to the technical field of mechanism motion synthesis, and in particular relates to a design method of a single-degree-of-freedom six-bar mechanism with mixed pose constraints. Background technique [0002] In mechanism science, as the research basis of mechanism science, planar linkage mechanism is widely studied, and has various structures and characteristics, so the research on planar linkage mechanism has never stopped. [0003] The existing research on the motion synthesis method of the single-degree-of-freedom six-bar mechanism is basically aimed at four or five precise poses, but for slightly more complex trajectories, only the constraints of these four or five precise poses It is very likely that the ideal target trajectory cannot be obtained. At this time, it is necessary to introduce several approximate pose constraints to make the trajectory curve meet expectations. After searching and reading a large amount of literatu...

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Problems solved by technology

[0003] The existing research on the motion synthesis method of the single-degree-of-freedom six-bar mechanism is basically aimed at four or five precise poses, but for slightly more complex trajectories, only the constraints of these four or five precise poses It is very likely that the ideal target trajectory cannot be obtained. At this time, it is necessary to introduce several approximate pose constraints to make the trajectory curve meet expectations

After a large amount of literature retrieval and reading, there is no relevant literature on the single-degree-of-freedom six-bar mechanism through accurate and approximate mixed poses.

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