东华大学学报（英文版）2004，Vol.21Issue(4)：118-123,6.
Singularity Analysis of 2-DOF Planar Seven-bar Mechanisms Used in Hybrid Actuators
Singularity Analysis of 2-DOF Planar Seven-bar Mechanisms Used in Hybrid Actuators
方新国 1邹慧君 2梁庆华2
作者信息
- 1. School of Literature & Art,Foshan University,528000
- 2. School of Mechanical Engineering,Shanghai Jiaotong University,Shanghai,200030
- 折叠
摘要
Abstract
Based on the Jacobian matrices relating the input speeds with the output speeds of linkages, a general method, which is used for solving the singularities of planar multi-loop multi-DOF linkages, is presented. The four kinds of singularities of 2-DOF planar seven-bar linkages used in hybrid actuators are analyzed in detail by this method. Its five kinds of singular positions whose characteristics are discussed respectively are discovered. Three approaches are proposed on how to avoid the singular positions of planar multi-loop multi-DOF linkages. Based on the assemblability of planar single-loop N-bar chains or linkages, the geometry conditions are investigated and discovered to avoid the singular positions of the linkages. In order to versify aforementioned conclusions, a case is given in which the singular curves are plotted and simulated.关键词
Velocity matrice/Assemblability/Seven-bar mechanism/SingularityKey words
Velocity matrice/Assemblability/Seven-bar mechanism/Singularity分类
管理科学引用本文复制引用
方新国,邹慧君,梁庆华..Singularity Analysis of 2-DOF Planar Seven-bar Mechanisms Used in Hybrid Actuators[J].东华大学学报（英文版）,2004,21(4):118-123,6.
