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本文利用平面四杆机构的等效机械手的工作空间,对连杆的极限尺寸、曲柄存在条件及曲柄摇杆机构中的摇杆转角范围进行了分析,并提出了机构装配空间及曲柄存在空间等新概念。这些概念不仅对平面机构的可动性分析行之有效,同时也适用于对空间机构的分析。
In this paper, the working space of the equivalent manipulator of the planar four-bar mechanism is used to analyze the limit size of the connecting rod, the existence condition of the crank and the range of the rocker angle of the crank-rocker mechanism, and the space for assembly of the mechanism and the existence of the crank are proposed new concept. These concepts are not only valid for the analysis of the mobility of planar agencies, but also for the analysis of space agencies.