Research on Kinematic Design for a Variable Structure Generalized Linkage

摘要

Based on a typical four bar linkage-a crank and rocker mechanism, this paper presents a new design theory and method for a variable structure generatlized linkage. Fisrslty, the linkage is optimized to perform approximately motion required(e.g. standard cam motions). Secondly, the adjustment link is selected in the linkage by mean of structural feasibility and sensitivity analysis on the integral error between the output motion and the required motion in the given range. Thirdly, the single degree of freedom basic linkage will be changed into 2-degrees of freedom differential linkage through changing the structure of the original mechanism and adding auxiliary driving link operated by electricity, fluid, gas, amgnetic power and so on. Finally, we can achieve the object of using generliezed linkage to perform exactly the complicated notion required.