Abstract
The article considers the problem of structural synthesis of various lever mechanisms with multiple joints. Structural synthesis of multi-link mechanisms, on the one hand, is the primary and most difficult, due to the large number of options for structural solutions and, on the other hand, it is the most important design stage. To solve the problem under study, a theorem of integer structural synthesis of multi-loop kinematic chains with multiple joints is proposed. On the basis of the theorem the entire finite sets of structural solutions for directed synthesis are determined at the level of inventions of various working multi-loop lever mechanisms with multiple joints of different multiplicity. An algorithm for the structural synthesis of multi-loop lever mechanisms of a given mobility with a variety of multiple joints is proposed. The effectiveness of the proposed algorithm is confirmed by examples of its application for an integer structural synthesis of a manipulator gripper, a jaw crusher, a rectilinear-guiding articulated lifting mechanism of the manipulator and a universal multi-point articulated clamping device, as well as by the results of experimental studies of their operating models.
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