混合输入型五杆轨迹机构的分析与设计

混合输入型机构有两种类型的输入，一种由实时不可调速（ＲｅａｌＴｉｍｅＮｏｎ－Ａｄｊｕｓｔａｂｌｅ，ＲＴＮＡ）马达供给；另一种由实时可调速马达（ＲＴＡ马达）供给．ＲＴＮＡ马达提供主要的动力，ＲＴＡ马达则起运动调节作用．这样一种构型能实现可编程的输出运动且具有高的运行速度、承载能力和能效．文中以机构不产生死点位置为依据，对混合输入型五杆机构进行分类，并对每种类型机构的轨迹实现范围进行了研究．在混合五杆机构优化设计时，以实现一组轨迹输出时所需的最大ＲＴＡ马达的功率作为最小化求优的目标函数．举例验证了所提出的设计方法．

Analysis and Design of Hybrid Five-Bar Trajectory-Generating Linkages

Hybrid mechanisms have two types of inputs: one is supplied by real time non adjustable(RTNA) motor and the other by real time adjustable(RTA) motor. The RTNA motor provides majority of the driving power and the RTA motor acts as a low power motion modulation device. Such a configuration is capable of generating a range of programmable output motions and has a capacity of high speed operation, heavy load bearing and more efficient consumption of energy. This paper investigated the problems of hybrid five bar trajectory generating linkages. Under the condition that no dead position exists, a classificatioon was made on the hybrid five bar linkage. The trajectory range of each class was studied. An optimal design scheme was put forward based on the criterion which aims to minimize the maximum power requirement of the RTA motor for a given trajectory range. An example was shown to verify the effectiveness of the proposed design method.