万向节运动传递非等速特性研究

研究并基本解决了轴线相交且做允许的任意空间运动时等速万向节和十字轴式不等速万向节的运动传递特性的分析问题。说明了等速万向节传动等速关系的相对性及其不等速性质，给出了一般条件下等速万向节和十字轴式不等速万向节的运动传递特性的解析计算公式，证明了轴线相对固定时刚性万向节实现等速传动的充分且必要条件。实例计算分析验证了以上结果。上述研究为多刚体机械系统中万向节传动装置的运动学建模及程序计算分析提供了一种有效方法。

Study on non-constancy of motion-transmitting characteristics of a mechanical joint

Presented is an analysis of the motion transmitting characteristics of constant velocity joint (CVJ) and Cardan joint when the axes of the joints move arbitarily in the constraint permited space. It was been shown that a non constacy of the motion transmitting of CVJ existed when the relative position of the axes of the joint was changing. The precise formulae were developed to analyze the motion transmitting characteristics of the joints under general conditions. A theorem for the sufficient and necessary condition of the constancy of motion transmitting of the joints was proved when relative position of the axes remained unchanged. The analytical method used is proved effective for the modelling and program analysis of the kinematics of joint transmmition in multibody mechanical systems.