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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >Rolling 4R linkages
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Rolling 4R linkages

机译：滚动4R连杆

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摘要

In this paper, a family of mobile 4R linkages is proposed to complete the rolling gait. They are derived from the general 4R four-bar linkage. The first subgroup of this family consists of three planar straight rolling 4R linkages: (1) the linkage driven by four active revolute joints, (2) the linkage driven by an arbitrary active revolute joint, and (3) the overconstrained linkage driven by a motor mounted at the intersection of two additional links. The spherical 4R linkage which rolls along a circle belongs to the second subgroup. The third subgroup includes the spatial Bennett mechanism which rolls along a polygonal line. These rolling 4R linkages have alterable fixed links and are proved to roll successfully by simulations and experiments after the analyses of dynamics, stability and the strategy of motor acts. They can be used to develop new spatial four-bar or multi-bar linkages which could move straight and take a turn.
机译：在本文中，提出了一系列移动式4R连杆来完成步态。它们源自一般的4R四连杆机构。该系列的第一子组由三个平面直线滚动4R连杆组成：（1）由四个主动旋转接头驱动的连杆，（2）由任意主动旋转接头驱动的连杆，以及（3）由一个主动旋转接头驱动的过约束连杆电机安装在两个附加连杆的交点处。沿圆周滚动的球形4R连杆属于第二子组。第三个子组包括沿折线滚动的空间Bennett机制。这些滚动的4R连杆具有可变的固定连杆，并且在对动力学，稳定性和运动行为策略进行了分析之后，通过仿真和实验证明了滚动成功。它们可用于开发新的空间四连杆或多连杆机构，这些机构可以直线移动并转弯。

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