Abstract
Constraint forces of the kinematic pair are the basis of the kinematics and dynamics analysis of mechanisms. Exploring the solution method for constraint forces is a hot issue in the mechanism theory fields. Based on the observation method and the theory of reciprocal screw system, the solution method of reciprocal screw system is improved and its solution procedures become easier. This method is also applied to the solution procedure of the constraint force. The specific expressions of the constraint force are represented by the reciprocal screw system of twist. The transformation formula of twist under different coordinates is given and it make the expression of the twist of kinematic pair more facility. A slider-crank mechanism and a single loop spatial RUSR mechanism are taken as examples. It confirms that this method can be used to solve the constraint force of the planar and spatial mechanism.
Highlights
The constraint force analysis of kinematic pair is the key of using mechanisms reasonably and creating new mechanisms and the important factor of kinematics and dynamics analysis and the base of structure design of mechanism
Zhao and Huang [3] using the analytical method analyzed the force of the lower-mobility parallel mechanism with overconstrained couple
Based on Zhao’s research and screw theory, Liu et al [4] analyzed the force of single loop spatial mechanism
Summary
The constraint force analysis of kinematic pair is the key of using mechanisms reasonably and creating new mechanisms and the important factor of kinematics and dynamics analysis and the base of structure design of mechanism. Traditional methods of constraint force analysis of kinematic pair include the graphic method and analytical method [1] Since they need drawing and the force figures, which go against programming, seeking new analysis methods is very necessary. Wang et al [5] combining the traditional dismantle-bar method with screw theory analyzed the force of the spatial parallel mechanism. In order to express constraint forces of the kinematic pair, the solution coefficient is introduced Can this method solve constraint forces of the kinematic pair of mechanism and it can analyze the static and dynamic force by combining it with the foregoing methods. We verify the method by solving constraint forces of the kinematic pair of a slider-crank mechanism and a single loop spatial RUSR mechanism.
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