Структурный синтез семейства плоских восьмизвенных кинематических цепей рычажных механизмов с многократными шарнирами и наиболее сложным трехшарнирным звеном

Abstract

Structural synthesis of closed kinematic chains to create various mechanisms is the first and most difficult stage of creative design of complex machines due to the large variance of possible structural solutions. In this paper, the authors examine the problem of structural synthesis of a family of eight-link kinematic chains with multiple joints of various types and the most complex three-joint link in order to create multi-loop multiple-joint mechanisms with one degree of freedom. To solve this problem, a synthesis technique is proposed based on the search for all integer solutions of a generalized structural mathematical model of plane linkage mechanisms and the identification of all structurally nonisomorphic kinematic chains using a two-column P-matrix. As the result of the structural synthesis, a family of eight-link multiple joint kinematic chains is obtained, which contains seven new kinematic structures. Examples of creating 1-DOF mechanisms with multiple joints based on the obtained new structures are presented. They confirm the effectiveness of using the structural synthesis procedure and analysis of complex mechanisms with multiple joints in various areas of modern engineering (precise guiding mechanisms, automatic lines, technological machines, robots, manipulators, etc.).