【作者】 郭晓宁；

【导师】 褚金奎；

【作者基本信息】 西安理工大学 ， 机械设计及理论， 2003， 博士

【摘要】 本文对连杆机构的回路识别问题、空间多环机构运动分析理论以及连杆机构的参数化实体运动仿真问题进行了深入系统的研究。 研究平面单输入双杆组连杆机构（SIDM）回路识别问题。具有j个环路的SIDM可看作由j-1个环路SIDM与一个双杆组（记作dyad_j）组成，则SM_j的回路情况由SM_j-1的回路情况、dyad_j的构形以及dyad_j与SM_j-1运动的相互作用决定，基于此思想，在全面分析了所有类型双杆组的构形及装配条件的基础上，与型转化法机构结构分解路线的自动生成相结合，实现了平面SIDM回路识别的系统化与自动化；最后给出了两个分析实例。 研究了Stephenson六杆机构（S-SBM）的可动性问题。将Stephenson六杆链（S-SBC）看作由一个基础四杆链（BFBC）和双杆组组成，基于BFBC和双杆组的两个公共副之间的距离，建立了S-SBC回路识别模型。基于此模型，实现了S-SBC回路及回路缺陷的自动识别，给出并证明了所有类型的S-SBM的曲柄存在条件及判断方法；提出了解决S-SBM运动顺序问题的静止位形点环路法。从而解决了S-SBM精确点综合中最棘手的三个问题：回路缺陷、曲柄存在和运动顺序问题，为S-SBM的尺度方案优选提供了理论依据和技术方法。 对空间第一组机构回路问题进行了研究。首先提出了四个回路类型判断参数，根 西安理工大学博士学位论文据这些参数之间的关系，将球面4R机构回路分为三种类型，并从几何的观点进行了证明;然后基于球面三角理论，提出了球面4R机构回路及分支缺陷识别的转角符号法，而由空间第一组机构与其等效球面4R机构回路特性的等效性，此方法对空间第一组机构的回路和分支缺陷的识别同样有效。 基于一元四次方程解的性质，得到了在输入构件两个相邻瞬时静止位置之间机构的分支的数目和大小顺序不变的结论，进而提出了识别具有四个封闭形的空间单环机构回路的新方法一一死点法，综合出了输入构件位于瞬时静止位置时机构分支结合情况的所有类型及其自动判别方法，研究了由所有结合的分支信息自动生成回路的算法，首次解决了此类机构回路与回路缺陷的自动识别。 将平面连杆机构运动分析的型转化和广义型转化理论拓展到空间连杆机构的运动分析，得出了型转化法全间连杆机构的结构分解准则及其自动生成算法:给出了以型转化单元为结构单元的空间机构单元划分方法。结合单环空间机构的位置分析方法及速度、加速度分析的影响系数法，给出了刚转化单元的运动分析方法:最后编制程序，实现了多月生}，bJ机构运动分扔的自动化。 研究了在5 ofidwork:平台上进布J几连杆机构参数化实体运动仿真的力法。将面向对象的型转化法机构运动分析系统与Solid认七rks强大的参数化特征造型功能相结合，利用其提供的API接口，在vc一汁6.0开发环境下，实现了连杆机构的三维动态参数化设计和实体运动仿真的自动化。此系统的建模和分析计算自动化程度高，为机构设计提供了全面准确的参考数据和形式多样的前后处理能力。更多还原

【Abstract】 Some theoretical problems on kinematic analysis of spatial linkage and circuit identification of linkages, the method of parameterized solid motion simulation of linkages are studied systematically and deeply in this dissertation.The circuit identification of planar single-input-dyads mechanism (SIDM) is studied. A planar SIDM with j loops (expressed in term of SMj) can be regarded as comprising of a SIDM with j -\ loops (expressed in term of SMj-1) and a dyad (expressed in term of dyadj). Then, the circuit condition of SM, is determined by the circuit condition of SMj-1 and the configuration of dyadj. Based on the above thought and combined with the automatic generation of structural decomposing of planar mechanism according to the type transformation theory, circuit automatic identification of planar SIDM are realized, two examples are given to demonstrate the use of this method.Mobility problem (including circuit defect, crank problem and the order of motion) of Stephenson six-bar linkage is studied. AS- SBC contains a basic four-bar loop (BFBC ) and a dyad. Base on the distance of two common joints shared by the BFBC .and the dyad, the model of circuit identification is established. Via this model, automatic identification of circuit and circuit defect of S - SBC are realized. The procedures to check for the existence of a crank in all types of S - SBM are found. The method of stationary configuration loop to solve the order of motion of S - SBM is presented. The results resolve three of the most complicated and troublesome problems encountered in the precision point synthesis and provide theoretical basis and technical method for dimensional scheme selection of S - SBM.The circuit of the first group spatial linkages is studied. Four parameters for determining the type of circuit of spherical four-bar linkage are defined. According to the relationship of these parameters, three types of circuit of spherical four-bar linkage are found, which is proved in view of geometry point. Base on the theory of sphere triangle, an approach of identifying the circuit and branch defect of spherical four-bar linkage is proposed. This method is also valid for identifying the circuit and branch defect of first group spatial linkages based on the equivalent of circuit properties of the first group spatial linkages and its equivalent sphere four-bar linkage Base on the property of the solutions of quartic equation, the conclusion that the number and order of branch between two adjacent stationary positions of the input link are derived. Then, the new method to identify circuits of spatial single-loop linkages with four closures is presented. All types of the manner on which the branches coalesce at the stationary positions of the input link are obtained and the procedures to determine the type automatically are developed. The automatic generation algorithm using all information of the coalesced branches is studied. The results are believed the first attempt that resolves the circuit identification problem of the spatial linkages with four closures.The theory of type transformation of planar linkages has been extended to the kinamatic analysis of spatial linkages. The structural decomposing criterion and its automatic generation algorithm for multi-loop spatial linkages are discussed. The kinematic algorithm of the basic unit is given based on the position analysis method of single-loop spatial linkages and he kinematic influence coefficient method. A computer program for automatic analysis of spatial mechanisms is developed.The method of parameterized solid kinametic simulation of the linkages on the SolidWorks platform is studied. Integrated kinematic analysis system of Object-Oriented with powerful function of parameterized feature model of SolidWorks, Using the various Application Programming Interface which the SolidWorks provided, The three-dimensional parameterized solid kinametic simulation system of the linkages are achieved with the tool of VC++6.0. This system provided exact reference data and varied更多还原