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本文采用方向余弦矩阵和机构运动的几何等同条件,导出RRRE RRPE和RCE过约束空间机构的曲柄条件及其输出构件的平动条件,进而分别演化出运动特点完全相同的RRRRE RRPRERRRPE和RCRE单自由度空间曲柄机构,从而拓广了过约束机构曲柄条件的意义。通过对具有对称面结构的6R、RRPPRR和RCCR空间闭式运动链的研究,得出它们成为过约束等角速双曲柄机构的条件分别等同于RRRE RRPE和RCE过约束机构曲柄条件的结论。从而得到可用于相交轴或交错轴间的6R、RRPPRR、RRPRR、RCCR和5R过约束等角速传动双曲柄机构及特殊的7R、RRPRPRR、RRRPRRR和RCRCR等角速传动空间双曲柄机构。
In this paper, the geometric conditions of directional cosine matrix and mechanism motion are used to derive the crank conditions and the translational conditions of RRRE RRPE and RCE over-constrained space institutions. Then the RRRRE RRPRERRRPE and RCRE single-degree-of-freedom Space crank mechanism, thus extending the meaning of over-constrained mechanism crank conditions. Through the research on the closed kinematic chain of 6R, RRPPRR and RCCR with symmetric plane structure, we conclude that they are the conditions of the over-constrained isochorial double-crank mechanism, which are equivalent to the RRRE and RCE over-constrained mechanism crank conditions respectively. Resulting in double-crank mechanism of angular velocity transmission such as 6R, RRPPRR, RRPRR, RCCR and 5R over-constrained and special double-crank mechanism of angular velocity transmission space such as 7R, RRPRPRR, RRRPRRR and RCRCR, which can be used for intersecting axes or staggered axes.