可实现平面任意曲线的新型五杆机构研究

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提出了一种可实现工作空间内任意曲线的具有对称结构的RPR平面闭链五杆机构,通过对该机构的运动学和动力学分析,提出了一种驱动器状态空间方程的计算方法,并通过实例分析,验证了该方法的可行性,为该机构的进一步研究及应用提供了理论依据。 This paper presents a RPR plane closed chain five-bar mechanism with symmetrical structure for realizing arbitrary curve in the work space.Through the analysis of dynamics and kinematic,we propose the drive state space equation calculating methods.Further,we demonstrate the feasibility of this method by the example analysis.This paper provides theory basis for the organization of further research and application.