平面闭链RRRRP五杆机构柔性工作空间的分析

应用隐函数存在定理，推导出平面闭链ＲＲＲＲＰ五杆机构柔性工作空间边界的条件，即输出杆与相连的连架杆共线，以及另一连架杆与相连的滑块导路垂直，利用三角不等式推导出平面闭链ＲＲＲＲＰ五杆机构存在无条件曲柄的不等式条件，分析平面闭链ＲＲＲＲＰ五杆机构在保证无条件曲柄存在条件下，其工作空间边界曲线的构成及其特征。在此基础上提出了平面闭链ＲＲＲＲＰ五杆机构的工作空间求解算法，通过算例验证了数学模型的正确性。

Analysis on the Flexible Workspace of Plane Closed-Loop RRRRP Five Bars Mechanism

This paper used the implicit function theorem to derive the condition of flexible workspace boundary of plane closed- loop five bars mechanism.That is,the output bar and conjoint connecting- link are folded or extended,and another coupler and the slider are vertical.It concluded the inequality condi- tion of existing non- condition crank by triangle inequality.And under the condition of ensuring existence of non- condition crank,it analyzed the boundary curve construction and feature of plane closed- loop RRRRP five bars mechanism.Based on it,the solution algorithm of plane closed- loop RRRRP five bar mechanism was putforth.Finally,some examples were given to validate these mathematical models.