Research on the Methodology for Drive Selection and Defect Judgment of 5-SS Rigid-body Guidance Mechanism

Jian-You Han ； Jia-Chun Xing ； Guang-Zhen Cui ； Tong Yang

《Proceedings of the 14th IFToMM World Congress》 14th-2 (2015/10) Pp. 406-412

https://doi.org/10.6567/IFToMM.14TH.WC.OS8.010

並列摘要

A new approach is given to select drive and judge the defects of the 5-SS linkage. Firstly, the method for selecting driving links of the 5-SS linkage is presented, and the motion characteristics with different driving links are analyzed. Then the method to judge the defects is proposed. Through calculating the Jacobian matrix's determinant value of the 5-SS linkage, we can know whether the determinant value changes its sign at the given positions. Thus we can estimate whether there are positions in which the determinant values are zeros. Then, in order to get the ＂locked up＂ position of the 5-SS linkage, we establish the 5-SS linkage model and simulate. Through the comparison with the result of the Jacobin matrix's determinant, the method of judgment defect is acquired. The branch defect can be avoided through changing the drive before the ＂locked up＂ position and the combinations of the drives are proposed. Finally, the conclusion is proved correct through a synthesis example.

並列關鍵字

5-SS linkage ； Branch and circuit ； Drive selection ； Judgment defect