ON THE GENERATION SYNTHESIS OF MOVABLE OCTAHEDRAL 6R MECHANISMS

摘要

The geometric characteristics of three well-known movable octahedral 6R mechanisms are described and then, by matrix algebra method, we derive their general displacement closed-form solutions for further investigation and analysis. Based on the fundamentals of three-dimensional analytical coordinate geometry, a systematic approach is offered to generate the configuration of movable octahedral 6R mechanism with the help of computer graphics. In addition, a user-friendly computer aided program implementing the process of generation synthesis can be developed in Autolisp, a Lisp language interpreter within autoCAD. The numerical results for every generation and their constrained motion are confirmed by the derived analytical solutions. The physical models of these synthesized mechanisms are also built respectively.