Мехатроника 1 Бөлім mechatronics
Structural synthesis of mechanisms of mechatronic modules
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Мехатроника 1 том Баймухамедов М.Ф., Джаманбалин Қ.Қ.,Ақгул м.К.
| 2.4 Structural synthesis of mechanisms of mechatronic modules
Structural synthesis of mechanisms is design of structural schemes of mechanisms under given conditions. When designing mechatronic modules, the problem of structural synthesis, including the choice of the number of links, number, class and order the location of kinematic pairs and degrees of mobility is one of the main, since its solution is directly related to the fulfillment of the given functions of the mechatronic module. Structural synthesis of mechanisms of mechatronic modules is carried out using structural formulas [2]. The basic structural scheme of the mechanism is a diagram containing the minimum number of links and kinematic pairs necessary to realize the required functional motion of the output link of the mechanism and having no excessive circuit links and excess mobilities. The number of moving links and kinematic pairs of basic structural schemes of mechatronic module mechanisms, required (preset) number of degrees of mobility and the form of kinematic pairs, are found by the formulas: a) spatial mechanisms (2.10) b) flat mechanisms (2.11) where the number 4 refers to the higher kinematic pairs (of the second and first classes), the number 5 is to the lower kinematic pairs (the fifth, fourth and third classes). 185 The number of mobile links is determined by the method of selection of kinematic pairs. As a result of the calculations, the number of mobile links and kinematic pairs must be integer. In this case, the solution can be multivariant. It should be noted that formula (2.11) makes it possible to determine only the number of links and the total number of kinematic pairs without specifying the specific form of each kinematic pair, at the same time a formula (2.10) allows this to be done. Therefore, follows from (2.10). We synthesize the basic structural scheme of a plane mechanism mechanotronic module with one degree of mobility, containing kinematic pairs of the third, fourth and fifth classes. We calculate the number of moving links and kinematic pairs of mechanism by the formula (2.11): We determine the number of moving links and kinematic pairs by formula (2.10) for spatial mechanisms: The number of links and kinematic pairs found by the formulas (2.10) and (2.11) obtained the same thing. But the result of formula (2.11) indicates only the total number of lower and the total number of higher kinematic pairs without specifying their type. The formula (2.10) allows determine the number and the specific form of the kinematic pairs. The mechanism contains three moving links, one pair of the third class, one pair of the fourth class and two pairs of the fifth class. We synthesize the structural scheme of the spatial mechanism of the mechatronic module of the robot actuator with five degrees of mobility, which contains kinematic pairs of the fourth and fifth classes. We determine the number of moving links and kinematic pairs of mecha- nism by the formula (2.10): The mechanism contains three moving links, two kinematic pairs of the fourth class and one kinematic pair of the fifth class. жүктеу/скачать 11,25 Mb. Достарыңызбен бөлісу:
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