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针对平面3-DOF PRR-RRP型六杆机构,引入虚杆概念。通过虚杆等效方法,将六杆机构等效为四杆杆链。基于Grashof定理,全面分析了PRR-RRP型六杆机构各构件长度与曲柄存在的关系。根据机构的装配关系,推导出不同杆长关系下的曲柄存在条件,并给出判定PRR-RRP型六杆机构曲柄的程序流程图。该条件为平面3-DOF PRR-RRP型六杆机构的设计与优化奠定了基础。
For the plane 3-DOF PRR-RRP six-bar mechanism, the concept of virtual rod is introduced. By the virtual equivalent method, the six-bar mechanism is equivalent to a four-bar chain. Based on the Grashof theorem, the relationship between the length of each component of the PRR-RRP six-bar mechanism and the existence of the crank is thoroughly analyzed. According to the assembly relationship of the mechanism, the existence condition of the crank under different lever-length relationship is deduced, and the program flow chart for judging the crank of PRR-RRP six-bar mechanism is given. This condition laid the foundation for the design and optimization of the planar 3-DOF PRR-RRP six-bar mechanism.