Research On Kinematic Synthesis Method Of Spatial Four Bar Function Generating Mechanism

This thesis used optimal method to synthesize spatial four bar mechanisms based the kinematic analysis of RSSR、RSSP、RCCC mechanisms.The correctness of the synthesis results are validated by kinematic simulation with ADMAS software.Rotating vector method is used to analyze spatial four bar function generating mechanism including RSSR、RSSP and RCCC mechanisms.The equations for position analysis of the two side links of the three mechanisms are solved.Then the optimization mathematical models of the three spatial mechanisms are established.The synthesis models for given swing angle of the rocker and time-ratio coefficient of the spatial RSSR mechanism and for given slider stroke and time-ratio coefficient of the spatial RSSP mechanism are also been established.In the objective function,the requirements for the smallest of the difference between expected function and generated function,the minimum bar-length and pressure angle of the mechanism are been considered.In the constraints,the swing angle of joint bearing and the pressure angle of the mechanism are been considered.The kinematic synthesis of the mechanisms are completed by MATLAB optimization toolbox.The correctness of the analysis and synthesis method is verified by ADAMS modeling and simulation.A real model of the spatial RSSP mechanism has been designed and produced.The model can be adjusted in a certain range,and it is equipped with dials which can indicate the angle of the driving link and the position of the slider.By comparing the operation of the model with the calculated results the correctness of the analytical method can be verified.Finally,a software for kinematic synthesis of spatial mechanisms including RSSR、RSSP、RCCC through the graphical user interface development environment in MATLAB(short for GUIDE)is developed.