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本文应用封闭环矩阵形式方程论证了一类空间4R-C 五杆过约束机构。进一步研究表明:在这类过约束机构中,当两组平行轴相互垂直交叉时得到下列新结论:1.对由 R、C 组成的这类机构,C 副安置在哪一个轴上,应满足一定的限制条件,否则就不能实现主、从动轴间的相对空间运动。2.对由 H、C 组成的这类机构,在特定的螺矩关系下,C 副的任意安置仍有可能;即对 H 副成立的结论不能无条件地推广到 R 副上。应用上述结论,作者设计了空间 RRCRR 机构(这类过约束机构的一种),应用于织机多臂提综装置,经试验运转效果良好。
In this paper, a class of space 4R-C five-bar over-constrained mechanism is demonstrated by the closed loop matrix equation. Further studies have shown that in such over-constrained mechanisms, the following new conclusions are obtained when two sets of parallel axes cross each other perpendicularly: 1. For such a mechanism consisting of R and C, on which axis C should be placed, Certain restrictions, or can not achieve the relative movement between the main shaft and the driven shaft. 2. For such institutions consisting of H and C, arbitrary placement of Party C is still possible under certain screw-pitch relations; that is, the conclusion of the establishment of Party H can not be generalized to Party R without any conditions. Applying the above conclusions, the author designed a space RRCRR mechanism (a type of over-constrained mechanism) that is applied to the loom’s dobby heald unit and works well under test.