Kinematic Synthesis And Analysis Of Spatial Adjustable RSS'R Mechanism And Spatial Adjustable RSCR Mechanism

By comparison to the planar linkage mechanisms, spatial adjustable mechanisms have allowed many features, such as tight structure, agility, diversified multiplicity, less space occupied,working reliablly and achieveing more complicated motions with less linkages. The deep research of spatial adjustable mechanisms should certainly bring far-reaching effect to modern mechanism, whereas the study on kinematic synthesis of adjustable mechanisms for rigid-body guidance will promote the application of adjustable mechanisms, which is one of the important subjects of theory of mechanism. This thesis takes spatial adjustable mechanisms as research objects. The kinematic synthesis and analysis of adjustable mechanisms has been studied, and many aspects releted to the kinematic synthesis and analysis of adjustable mechanisms have been discussed. The main reseach works and the relevant results are listed below.(1) It has been presented that a two-step method to solve the kinematic synthesis problems of the adjustable RSS'R and RSCR mechanisms for rigid-body guidance which can achieve multiple tasks (phases of coupler position) using the same hardware. Firstly, the initial mechanisms are synthesized by means of rigid displacement matrixes and constraints of kinematic pair which can achieve a few given coupler positions (task 1). Secondly, based on the previous mechanism, the new adjustable RSS'R and RSCR mechanisms are synthesized to implement other given coupler positions (task 2,3,…) by changing some structure parameters. The sets of nonlinear synthesis equations of the initial mechanisms and that of the new...