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文献[1]提出用杆长逼近法解决高级平面连杆机构的位置问题。本文将这种方法扩充为约束条件逼近法,以解决任意高级平面连杆机构的位置、速度和加速度问题。高级平面连杆机构由起始件、机架及高级杆组等组成。设在高级杆组中拆下双副杆(RR杆或RP杆),则可将其简化为“Ⅱ级机构”进行运动分析。该法的整个计算过程可归结为求解双副杆的约束方程式。文末附有数值计算实例。
Literature [1] proposed the use of rod length approach to solve the problem of advanced plane linkage mechanism. In this paper, this method is extended to the constraint approximation method to solve the problem of position, velocity and acceleration of any advanced planar linkage. Advanced Plane Linkage from the starting pieces, racks and senior rod group and other components. After removing the secondary rod (RR rod or RP rod) in the advanced rod group, it can be simplified as a “class II mechanism” for the movement analysis. The whole calculation of the method can be attributed to solving the constraint equation of double sub-rod. At the end of the paper attached numerical examples.