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《Transactions of the Chinese Society for Agricultural Machinery》 2016-08
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Synthesis of RCCC Linkage to Visit Four Given Positions Based on Solution Region

Cao Yang;Han Jianyou;School of Mechanical Engineering,University of Science and Technology Beijing;  
The generalization of spherical rectification theory was considered to spatial RCCC linkages to visit four given positions. The problem of synthesis of spatial four-bar linkages of the RCCC type for rigidbody guidance with four given positions was focused,in which R denoting a revolute,C denoting a cylindrical kinematic pair. While synthesis equations for CC and RC dyads were available in literatures,the synthesis of spatial RCCC four-bar linkages required special attention due to its asymmetric topology.However,infinitely many exact solutions to the problem of CC-dyad synthesis existed for the four-pose rigid-body-guidance problem,the RC-dyad synthesis admitted only approximate solutions,thus the RCCC linkage was capable of visiting four positions. A solution region theory was proposed to synthesis a RCCC linkage which was to visit four positions. Firstly,the expression of spherical Burmester curve and the classification was given to make a solution region. The second solution region( moment solution region)was born follow-up by picking a point on Burmenster curve solution region. Secondly,the second region which also was the spatial 4C linkage solution region,while the linkage was 2-DOF. Through restricting the prismatic joint between drive and ground on spatial 4C linkage solution region,a spatial RCCC linkage which can visit four given positions was got. Finally,two examples were given which proved that the theory was validated and correct.
【Fund】: 国家自然科学基金项目(51275034)
【CateGory Index】: TH112
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【Citations】
Chinese Journal Full-text Database 9 Hits
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