Abstract
The study considers problems of geometric synthesis of spatial hinge-lever six-link mechanisms with linear displacement of the final link performing the guiding function. The variants of arranging the mechanisms and their design features to provide the maximum course of the final link with minimum lengths of levers have been found. The geometric parameters of the mechanism in its generalized form have been determined and specified the kinematics and layout schemes. The influence of geometric parameters and layout variants on the kinematic parameters of the mechanisms has been studied. Dependencies have been obtained to determine the geometric parameters of the basic mechanism by the specified course of the final link and the permissible angles of transmission in the hinges of the levers. Parametric dependencies are provided in the article to help calculate accurately the optimal geometry of the mechanism by the criterion for minimizing the lengths of the levers at acceptable transmission angles and the required range of displacements. A scheme has been proposed for calculating spatial dimensional chains for determining the shape of the parts. 3D modeling has revealed the variability of geometric parameters, which helped formulate layout versions of the mechanism. A technique for geometric synthesis has been developed and variants of spatial hinge-lever six-link mechanisms in dynamics have been modeled in accordance with this technique, which made it possible to show the features of the motion of the links. The carried out research has determined possible ways of developing new variants of spatial hinge-lever six-link mechanisms, and it has opened new possibilities of their application as a guiding mechanism. The results of the research can be used in designing platforms for lifts, robot manipulators, machine tools, and in mechatronics
Highlights
Lever mechanisms with a linear motion of moving parts are used in devices and equipment of various areas of mechanical engineering, including robotics, lifting machinery, machine tools, and mechatronics
The aim of the research is to solve the problem of geometric synthesis of spatial-hinged-lever six-link mechanisms with linear displacement of the final link to perform the function of a guide
When k changes from 1 to 4, the total length of the pair of levers increases by only 25 %, and the displacement e is 2.4 times
Summary
Lever mechanisms with a linear motion of moving parts are used in devices and equipment of various areas of mechanical engineering, including robotics, lifting machinery, machine tools, and mechatronics. Despite the complexity of the structure, multifaceted lever mechanisms of linear relocation in some devices have replaced guides with sliding carriages, telescopic mechanisms, and carriages on linear bearings This is due to various factors: the requirements of layout and minimization of the dimensions, the need to protect open surfaces from friction, the tendency to jam carriages with translational pairs, etc. The scope of applying guiding lever mechanisms unjustifiably limits the need for an individual approach to synthesis and design, as well as a relative complexity of the design This situation is due to insufficient development of theoretical aspects for analysing design schemes, systematization, and description. Due to the increasing demand for specialized robotics, compact lifting vehicles, precision manipulators (military subjects, orthopedics, remote surgery, etc.), the study of spatial guiding mechanisms seems to be an important issue
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