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附一：
畢業(yè)設(shè)計(jì)（論文）檔案袋內(nèi)組成部分
一、畢業(yè)設(shè)計(jì)（論文）冊(cè)內(nèi)容與裝訂順序：
l 封面；論文題目不得超過(guò)20個(gè)字，要簡(jiǎn)練、準(zhǔn)確，可分為兩行。
l 內(nèi)容
1、畢業(yè)設(shè)計(jì)（論文）任務(wù)書(shū)；任務(wù)書(shū)由指導(dǎo)教師填寫(xiě)，經(jīng)所在系部審查簽字后生效。
2、畢業(yè)設(shè)計(jì)（論文）開(kāi)題報(bào)告；
3、畢業(yè)設(shè)計(jì)（論文）學(xué)生申請(qǐng)答辯表與指導(dǎo)教師畢業(yè)設(shè)計(jì)（論文）評(píng)審表；
4、畢業(yè)設(shè)計(jì)（論文）評(píng)閱人評(píng)審表；
5、畢業(yè)設(shè)計(jì)（論文）答辯表；
6、畢業(yè)設(shè)計(jì)（論文）答辯記錄表；
7、畢業(yè)設(shè)計(jì)（論文）成績(jī)?cè)u(píng)定總表；
8、論文：
(1)中文題目與作者；
(2)英文題目與作者；
(3)中文內(nèi)容摘要和關(guān)鍵詞；
(4)英文內(nèi)容摘要和關(guān)鍵詞；
(5)目錄；
(6)正文；
(7)致謝；
(8)參考文獻(xiàn)及引用資料目錄；
(9)附錄；
(10)實(shí)驗(yàn)數(shù)據(jù)表、有關(guān)圖紙(大于3#圖幅時(shí)單獨(dú)裝訂)；
l 封底。
二、英文資料翻譯冊(cè)內(nèi)容與裝訂順序：
l 封面；
l 內(nèi)容
1、英文原文；
2、中文翻譯；
3、閱讀書(shū)目；
l 封底。
1
畢業(yè)設(shè)計(jì)（論文）任務(wù)書(shū)
系 部
機(jī)械工程系
指導(dǎo)教師
李兆銓
職 稱(chēng)
高工
學(xué)生姓名
鄭剛
專(zhuān)業(yè)班級(jí)
05機(jī)制本1
學(xué) 號(hào)
0515011117
設(shè)計(jì)題目
沖床上下料機(jī)械手
設(shè)
計(jì)
內(nèi)
容
目
標(biāo)
和
要
求
設(shè)計(jì)一個(gè)用于沖床（或液壓機(jī)等）上下料用的機(jī)械手，用吸盤(pán)抓取的鈑金件毛坯或成品件，工件大小和重量自定；機(jī)械手驅(qū)動(dòng)方式、運(yùn)動(dòng)精度和控制系統(tǒng)根據(jù)實(shí)際需要選擇。但應(yīng)有3個(gè)或3個(gè)以上的自由度。
一 設(shè)計(jì)內(nèi)容
1.在生產(chǎn)現(xiàn)場(chǎng)測(cè)繪一個(gè)用機(jī)械手上下料的沖壓零件，繪制該零件的工作圖和工序圖。
2.進(jìn)行機(jī)械手設(shè)計(jì)方案分析（該機(jī)械手應(yīng)有3個(gè)或3個(gè)以上的自由度），繪制機(jī)械手總裝配圖。
3.進(jìn)行吸盤(pán)的氣壓傳動(dòng)計(jì)算，確定吸盤(pán)能抓取工件的形狀大小及重量。
4.繪制該機(jī)械手的主要零件部件圖。如采用液壓或氣動(dòng)系統(tǒng)，應(yīng)畫(huà)出系統(tǒng)的原理圖。
5.撰寫(xiě)設(shè)計(jì)說(shuō)明書(shū)。
二 設(shè)計(jì)要求
1.設(shè)計(jì)必須獨(dú)立完成，要有創(chuàng)造性，不要照抄照搬實(shí)習(xí)現(xiàn)場(chǎng)的工藝、工裝、設(shè)備等.
2.設(shè)計(jì)繪圖工作總量一般不少于2.5A0，其中計(jì)算機(jī)繪圖不少于一張A1。
3.說(shuō)明書(shū)的內(nèi)容應(yīng)是圍繞本人設(shè)計(jì)的內(nèi)容進(jìn)行分析、計(jì)算和論證，不要抄書(shū)。說(shuō)明書(shū)內(nèi)容一般不低于25頁(yè)。
4.其他有關(guān)事宜按院、系有關(guān)規(guī)定執(zhí)行。
三 參考資料
工業(yè)機(jī)械手設(shè)計(jì)手冊(cè) 機(jī)械工業(yè)出版社
機(jī)械工程手冊(cè)（第二版）第9卷 機(jī)械工業(yè)出版社
指導(dǎo)教師簽名：
年 月 日
系 部審 核
此表由指導(dǎo)教師填寫(xiě) 由所在系部審核
2-1
畢業(yè)設(shè)計(jì)（論文）學(xué)生開(kāi)題報(bào)告
課題名稱(chēng)
沖床上下料機(jī)械手
課題來(lái)源
工程實(shí)踐
課題類(lèi)型
AX
指導(dǎo)教師
李兆銓
學(xué)生姓名
鄭剛
學(xué) 號(hào)
0515011117
專(zhuān)業(yè)班級(jí)
05機(jī)制本1
本課題的研究現(xiàn)狀、研究目的及意義
國(guó)外機(jī)器人領(lǐng)域發(fā)展近幾年有如下幾個(gè)趨勢(shì):
(1)工業(yè)機(jī)器人性能不斷提高(高速度、高精度、高可靠性、便于操作和維修)，而單機(jī)價(jià)格不斷下降，平均單機(jī)價(jià)格從91年的10.3萬(wàn)美元降至97年的65萬(wàn)美元。
(2)機(jī)械結(jié)構(gòu)向模塊化、可重構(gòu)化發(fā)展。例如關(guān)節(jié)模塊中的伺服電機(jī)、減速機(jī)、檢測(cè)系統(tǒng)三位一體化:由關(guān)節(jié)模塊、連桿模塊用重組方式構(gòu)造機(jī)器人整機(jī);國(guó)外已有模塊化裝配機(jī)器人產(chǎn)品問(wèn)市。
(3)工業(yè)機(jī)器人控制系統(tǒng)向基于PC機(jī)的開(kāi)放型控制器方向發(fā)展，便于標(biāo)準(zhǔn)化、網(wǎng)絡(luò)化;器件集成度提高，控制柜日見(jiàn)小巧，且采用模塊化結(jié)構(gòu):大大提高了系統(tǒng)的可靠性、易操作性和可維修性。
(4)機(jī)器人中的傳感器作用日益重要，除采用傳統(tǒng)的位置、速度、加速度等傳感器外，裝配、焊接機(jī)器人還應(yīng)用了視覺(jué)、力覺(jué)等傳感器，而遙控機(jī)器人則采用視覺(jué)、聲覺(jué)、力覺(jué)、觸覺(jué)等多傳感器的融合技術(shù)來(lái)進(jìn)行環(huán)境建模及決策控制;多傳感器融合配置技術(shù)在產(chǎn)品化系統(tǒng)中已有成熟應(yīng)用。
(5)虛擬現(xiàn)實(shí)技術(shù)在機(jī)器人中的作用已從仿真、預(yù)演發(fā)展到用于過(guò)程控制，如使遙控機(jī)器人操作者產(chǎn)生置身于遠(yuǎn)端作業(yè)環(huán)境中的感覺(jué)來(lái)操縱機(jī)器人。
(6)當(dāng)代遙控機(jī)器人系統(tǒng)的發(fā)展特點(diǎn)不是追求全自治系統(tǒng)，而是致力于操作者與機(jī)器人的人機(jī)交互控制，即遙控加局部自主系統(tǒng)構(gòu)成完整的監(jiān)控遙控操作系統(tǒng)，使智能機(jī)器人走出實(shí)驗(yàn)室進(jìn)入實(shí)用化階段。美國(guó)發(fā)射到火星上的“索杰納”機(jī)器人就是這種系統(tǒng)成功應(yīng)用的最著名實(shí)例。
(7)機(jī)器人化機(jī)械開(kāi)始興起。從94年美國(guó)開(kāi)發(fā)出“虛擬軸機(jī)床”以來(lái)，這種新型裝置已成為國(guó)際研究的熱點(diǎn)之一，紛紛探索開(kāi)拓其實(shí)際應(yīng)用的領(lǐng)域。我國(guó)的工業(yè)機(jī)器人從80年代“七五”科技攻關(guān)開(kāi)始起步，在國(guó)家的支持下通過(guò)“七五”、“八五”科技攻關(guān)，目前己基本掌握了機(jī)器人操作機(jī)的設(shè)計(jì)制造技術(shù)、控制系統(tǒng)硬件和軟件設(shè)計(jì)技術(shù)、運(yùn)動(dòng)學(xué)和軌跡規(guī)劃技術(shù)，生產(chǎn)了部分機(jī)器人關(guān)鍵元器件，開(kāi)發(fā)出噴漆、弧焊、點(diǎn)焊、裝配、搬運(yùn)等機(jī)器人;其中有130多臺(tái)套噴漆機(jī)器人在二十余家企業(yè)的近30條自動(dòng)噴漆生產(chǎn)線(站)上獲得規(guī)模應(yīng)用，弧焊機(jī)器人己應(yīng)用在汽車(chē)制造廠的焊裝線上。但總的來(lái)看，我國(guó)的工業(yè)機(jī)器人技術(shù)及其工程應(yīng)用的水平和國(guó)外比還有一定的距離，如:可靠性低于國(guó)外產(chǎn)品:機(jī)器人應(yīng)用工程起步較晚，應(yīng)用領(lǐng)域窄，生產(chǎn)線系統(tǒng)技術(shù)與國(guó)外比有差距;在應(yīng)用規(guī)模上，我國(guó)己安裝的國(guó)產(chǎn)工業(yè)機(jī)器人約200臺(tái)，約占全球已安裝臺(tái)數(shù)的萬(wàn)分之四。以上原因主要是沒(méi)有形成機(jī)器人產(chǎn)業(yè)，當(dāng)前我國(guó)的機(jī)器人生產(chǎn)都是應(yīng)用戶(hù)的要求，“一客戶(hù)，一次重新設(shè)計(jì)”，品種規(guī)格多、批量小、零部件通用化程度低、供貨周期長(zhǎng)、成本也不低，而且質(zhì)量、可靠性不穩(wěn)定。因此迫切需要解決產(chǎn)業(yè)化前期的關(guān)鍵技術(shù)，對(duì)產(chǎn)品進(jìn)行全面規(guī)劃，搞好系列化、通用化、模塊化設(shè)計(jì)，積極推進(jìn)產(chǎn)業(yè)化進(jìn)程。我國(guó)的智能機(jī)器人和特種機(jī)器人在“863”計(jì)劃的支持下，也取得了不少成果。其中最為突出的是水下機(jī)器人，6000m水下無(wú)纜機(jī)器人的成果居世界領(lǐng)先水平，還開(kāi)發(fā)出直接遙控機(jī)器人、雙臂協(xié)調(diào)控制機(jī)器人、爬壁機(jī)器人、管道機(jī)器人等機(jī)種:在機(jī)器人視覺(jué)、力覺(jué)、觸覺(jué)、聲覺(jué)等基礎(chǔ)技術(shù)的開(kāi)發(fā)應(yīng)用上開(kāi)展了不少工作，有了一定的發(fā)展基礎(chǔ)。但是在多傳感器信息融合控制技術(shù)、遙控加局部自主系統(tǒng)遙控機(jī)器人、智能裝配機(jī)器人、機(jī)器人化機(jī)械等的開(kāi)發(fā)應(yīng)用方面則剛剛起步，與國(guó)外先進(jìn)水平差距較大，需要在原有成績(jī)的基礎(chǔ)上，有重點(diǎn)地系統(tǒng)攻關(guān)，才能形成系統(tǒng)配套可供實(shí)用的技術(shù)和產(chǎn)品，以期在“十五”后期立于世界先進(jìn)行列之中。
課題類(lèi)型：
（1）A—工程實(shí)踐型；B—理論研究型；C—科研裝置研制型；D—計(jì)算機(jī)軟件型；
E—綜合應(yīng)用型
（2）X—真實(shí)課題；Y—模擬課題；
（1）、（2）均要填，如AY、BX等。
2-2
本課題的研究?jī)?nèi)容
設(shè)計(jì)一個(gè)用于沖床（或液壓機(jī)等）上下料用的機(jī)械手，用吸盤(pán)抓取的鈑金件毛坯或成品件，工件大小和重量自定；機(jī)械手驅(qū)動(dòng)方式、運(yùn)動(dòng)精度和控制系統(tǒng)根據(jù)實(shí)際需要選擇。但應(yīng)有3個(gè)或3個(gè)以上的自由度。
1.在生產(chǎn)現(xiàn)場(chǎng)測(cè)繪一個(gè)用機(jī)械手上下料的沖壓零件，繪制該零件的工作圖和工序圖。
2.進(jìn)行機(jī)械手設(shè)計(jì)方案分析（該機(jī)械手應(yīng)有3個(gè)或3個(gè)以上的自由度），繪制機(jī)械手總裝配圖。
3.進(jìn)行吸盤(pán)的氣壓傳動(dòng)計(jì)算，確定吸盤(pán)能抓取工件的形狀大小及重量。
4.繪制該機(jī)械手的主要零件部件圖。如采用液壓或氣動(dòng)系統(tǒng)，應(yīng)畫(huà)出系統(tǒng)的原理圖。
5.撰寫(xiě)設(shè)計(jì)說(shuō)明書(shū)。
本課題研究的實(shí)施方案、進(jìn)度安排
3.16-3.20 發(fā)任務(wù)書(shū)，收集資料，寫(xiě)開(kāi)題報(bào)告。
3.23-3.27 完成開(kāi)題報(bào)告。
3.30-4.17制定設(shè)計(jì)方案，設(shè)計(jì)方案。
4.20-5.15 繪制設(shè)計(jì)圖紙。
5.18-5.24 撰寫(xiě)設(shè)計(jì)說(shuō)明書(shū)。
6.1-6.8 答辯及整理文摘。
2-3
已查閱的主要參考文獻(xiàn)
[1]徐元昌.工業(yè)機(jī)器人.北京:中國(guó)輕工業(yè)出版社，1996
[2]張建民.工業(yè)機(jī)器人.北京:北京理工大學(xué)出版社，1988
[3]蔡自興.機(jī)器人學(xué)的發(fā)展趨勢(shì)和發(fā)展戰(zhàn)略.機(jī)器人技術(shù)，2001, 4
[4]周洪.氣動(dòng)技術(shù)的新發(fā)展.液壓氣動(dòng)與密封，1999, 5
[7]周伯英.工業(yè)機(jī)器人設(shè)計(jì).北京:機(jī)械工業(yè)出版社，1995
[8]龍立新.工業(yè)機(jī)械手的設(shè)計(jì)分析.焊工之友，1999, 3
[9]王承義.機(jī)械手及其應(yīng)用.北京:機(jī)械工業(yè)出版社，1981
[l0]時(shí)圣勇.射流式真空發(fā)生器[J ].液壓與氣動(dòng), 1991.
[1l]李哲.沖壓床自動(dòng)上、下料機(jī)械手的研制，研究與設(shè)計(jì)，2001, 5
[12]趙麗萍.氣動(dòng)機(jī)械手應(yīng)用事例分析.上海輕工業(yè)高等專(zhuān)科學(xué)校學(xué)報(bào)，1993, 1
[13]嚴(yán)學(xué)高，孟正大.機(jī)器人原理.南京:東南大學(xué)出版社，1992
[14]張新華.沖床自動(dòng)送料機(jī)的原理及設(shè)計(jì).鍛壓技術(shù)，1993, 5
[15]機(jī)械設(shè)計(jì)師手冊(cè).北京:機(jī)械工業(yè)出版社，1986
[17]黃錫愷，鄭文偉.機(jī)械原理.北京:人民教育出版社，1981
[18]成大先.機(jī)械設(shè)計(jì)圖冊(cè).北京:化學(xué)工業(yè)出版社，1985
[19]王為，汪建曉.機(jī)械設(shè)計(jì).武漢：華中科技大學(xué)出版社，2006.
[20]左健民.液壓與氣壓傳動(dòng).北京：機(jī)械工業(yè)出版社，1995.2
指導(dǎo)教師意見(jiàn)
指導(dǎo)教師簽名：
年 月 日
3
畢業(yè)設(shè)計(jì)（論文）學(xué)生申請(qǐng)答辯表
課 題 名 稱(chēng)
沖床上下料機(jī)械手
指導(dǎo)教師（職稱(chēng)）
李兆銓
申 請(qǐng) 理 由
畢業(yè)設(shè)計(jì)完成
學(xué)生所在系部
機(jī)械工程系
專(zhuān)業(yè)班級(jí)
05機(jī)制本1
學(xué)號(hào)
0515011117
學(xué)生簽名： 鄭剛 日期：2009年6月
畢業(yè)設(shè)計(jì)（論文）指導(dǎo)教師評(píng)審表
序號(hào)
評(píng)分項(xiàng)目（理工科、管理類(lèi)）
評(píng)分項(xiàng)目(文科)
滿分
評(píng)分
1
工作量
外文翻譯
15
2
文獻(xiàn)閱讀與外文翻譯
文獻(xiàn)閱讀與文獻(xiàn)綜述
10
3
技術(shù)水平與實(shí)際能力
創(chuàng)新能力與學(xué)術(shù)水平
25
4
研究成果基礎(chǔ)理論與專(zhuān)業(yè)知識(shí)
論證能力
25
5
文字表達(dá)
文字表達(dá)
10
6
學(xué)習(xí)態(tài)度與規(guī)范要求
學(xué)習(xí)態(tài)度與規(guī)范要求
15
總 分
100
評(píng)
語(yǔ)
（是否同意參加答辯）
指導(dǎo)教師簽名：
另附《畢業(yè)設(shè)計(jì)（論文）指導(dǎo)記錄冊(cè)》 年 月 日
4
畢業(yè)設(shè)計(jì)（論文）評(píng)閱人評(píng)審表
學(xué)生姓名
鄭剛
專(zhuān)業(yè)班級(jí)
05機(jī)制本1
學(xué)號(hào)
0515011117
設(shè)計(jì)（論文）題目
沖床上下料機(jī)械手
評(píng)閱人
評(píng)閱人職稱(chēng)
序號(hào)
評(píng)分項(xiàng)目（理工科、管理類(lèi)）
評(píng)分項(xiàng)目(文科)
滿分
評(píng)分
1
工作量
外文翻譯
15
2
文獻(xiàn)閱讀與外文翻譯
文獻(xiàn)閱讀與文獻(xiàn)綜述
10
3
技術(shù)水平與實(shí)際能力
創(chuàng)新能力與學(xué)術(shù)水平
25
4
研究成果基礎(chǔ)理論與專(zhuān)業(yè)知識(shí)
論證能力
25
5
文字表達(dá)
文字表達(dá)
10
6
學(xué)習(xí)態(tài)度與規(guī)范要求
學(xué)習(xí)態(tài)度與規(guī)范要求
15
總 分
100
評(píng)
語(yǔ)
評(píng)閱人簽名：
年 月 日
5
畢業(yè)設(shè)計(jì)（論文）答辯表
學(xué)生姓名
鄭剛
專(zhuān)業(yè)班級(jí)
05機(jī)制本1
學(xué)號(hào)
0515011117
設(shè)計(jì)（論文）題目
沖床上下料機(jī)械手
序號(hào)
評(píng)審項(xiàng)目
指 標(biāo)
滿分
評(píng)分
1
報(bào)告內(nèi)容
思路清新；語(yǔ)言表達(dá)準(zhǔn)確，概念清楚，論點(diǎn)正確；實(shí)驗(yàn)方法科學(xué)，分析歸納合理；結(jié)論有應(yīng)用價(jià)值。
40
2
報(bào)告過(guò)程
準(zhǔn)備工作充分,時(shí)間符合要求。
10
3
創(chuàng) 新
對(duì)前人工作有改進(jìn)或突破，或有獨(dú)特見(jiàn)解。
10
4
答 辯
回答問(wèn)題有理論依據(jù)，基本概念清楚。主要問(wèn)題回答準(zhǔn)確，深入。
40
總 分
100
答
辯
組
評(píng)
語(yǔ)
答辯組組長(zhǎng)（簽字）： 年 月 日
答
辯
委
員
會(huì)
意
見(jiàn)
答辯委員會(huì)負(fù)責(zé)人（簽字）： 年 月 日
6-1
畢業(yè)設(shè)計(jì)（論文）答辯記錄表
學(xué)生姓名
鄭剛
專(zhuān)業(yè)班級(jí)
05機(jī)制本1
學(xué)號(hào)
0515011117
設(shè)計(jì)（論文）題目
沖床上下料機(jī)械手
答辯時(shí)間
答辯地點(diǎn)
答辯委員會(huì)名單
問(wèn)題1
提問(wèn)人：
問(wèn)題：
回答（要點(diǎn)）：
問(wèn)題2
提問(wèn)人：
問(wèn)題：
回答（要點(diǎn)）：
問(wèn)題3
提問(wèn)人：
問(wèn)題：
回答（要點(diǎn)）：
記錄人簽名
（不足加附頁(yè)）
6-2
問(wèn)題4
提問(wèn)人：
問(wèn)題：
回答（要點(diǎn)）：
問(wèn)題5
提問(wèn)人：
問(wèn)題：
回答（要點(diǎn)）：
問(wèn)題6
提問(wèn)人：
問(wèn)題：
回答（要點(diǎn)）：
問(wèn)題7
提問(wèn)人：
問(wèn)題：
回答（要點(diǎn)）：
問(wèn)題8
提問(wèn)人：
問(wèn)題：
回答（要點(diǎn)）：
記錄人簽名
7
畢業(yè)設(shè)計(jì)（論文）成績(jī)?cè)u(píng)定總表
學(xué)生姓名： 鄭剛 專(zhuān)業(yè)班級(jí)： 05機(jī)制本1
畢業(yè)設(shè)計(jì)（論文）題目：沖床上下料機(jī)械手
成績(jī)類(lèi)別
成績(jī)?cè)u(píng)定
Ⅰ指導(dǎo)教師評(píng)定成績(jī)
Ⅱ評(píng)閱人評(píng)定成績(jī)
Ⅲ答辯組評(píng)定成績(jī)
總評(píng)成績(jī)
Ⅰ×40%+Ⅱ×20%+Ⅲ×40%
評(píng)定等級(jí)
注：成績(jī)?cè)u(píng)定由指導(dǎo)教師、評(píng)閱教師和答辯組分別給分(以百分記)，最后按“優(yōu)(90--100)”、“良(80--89)”、“中(70--79)”、“及格(60--69)”、“不及格(60以下)”評(píng)定等級(jí)。其中，
指導(dǎo)教師評(píng)定成績(jī)占40%，評(píng)閱人評(píng)定成績(jī)占20%，答辯組評(píng)定成績(jī)占40%。
外文資料
MECHANISMS AND MACHINE THEORY
1.Introduction to Mechanism：
The function of a mechanism is to transmit or transform motion from one rigid body to another as part of the action of a machine. There are three types of common mechanical devices that can be used as basic elements of a mechanism.
1、Gear system, in which toothed members in contact transmit motion between rotating shafts.
2、Cam system, where a uniform motion of an input member is converted into a nonuniform motion of the output member.
3、Plane and spatial linkages are also useful in creating mechanical motions for a point or rigid body.
A kinematic chain is a system of links, that is, rigid bodies , which are either jointed together or are in contact with one another in a manner that permits them to move relative to one another. If one of the links is fixed and the movement of any other link to a new position will cause each of the other links to move to definite predictable position, the system is a constrained kinematic chain. If one of the links is held fixed and the movement of any other link to a new position will not cause each of the other links to move to a definite predictable position then the system is an unconstrained kinematic chain,
A mechanism or linkage is a constrained kinematic chain, and is a mechanical device that has the purpose of transferring motion and/or force from a source to an output. A linkage consists of links (or bars), generally considered rigid, which are connected by joints, such as pin Cor revolute) or prismatic joints, to form open or closed chains (or loops). Such kinematic chains, with at least one link fixed, become mechanisms if at least two other links remain mobility, or structures if no mobility remains. In other words, a mechanism permits relative motion between its "rigid links"; a structure does not. Since linkages make simple mechanisms and can be designed to perform complex tasks, such as nonlinear motion and force transmission they will receive much attention in mechanism study.
Mechanisms are used in a great variety of machines and devices. The simplest closed-loop linkage is the four-bar linkage, which has three moving links (plus one fixed link) and four pin joints. The link that is connected to the power source or prime mover and has one moving pivot and one ground pivot is called the input link. The output link connects another moving pivot to another ground pivot. The coupler or floating link connected the two moving pivots, thereby "coupling" the input to the output link.
The four-bar linkage has some special configurations created by making one or more links infinite in length. The slider-crank (or crank and slider) mechanism is a four-bar chain with a slider replacing an infinitely long output link. The internal combustion engine is built based on this mechanism. Other forms of four-link mechanisms exist in which a slider is guided on a moving link rather than on a fixed link. These are called inversions of the slider-crank, produced when another link (the crank, coupler, or slider) is fixed link.
Although the four-bar linkage and slider-crank mechanism are very useful and found in thousands of applications, we can see that these linkages have limited performance level. Linkages with more members are often used in more demanding circumstances. However it is often difficult to visualize the movement of a multiloop linkage, especially when other components appear in the same diagram. The first step in the motion analyses of more complicated mechanisms is to sketch the equivalent kinematic or skeleton diagram. The skeleton diagram serves a purpose similar to that of the electrical schematic or circuit diagram .
Organization movement analysis second step: Draws a graphic chart, is must determine the organization the number of degrees of freedom. Based on degree of freedom, but Italy refers needs certain independent inputs the movement number, by determined organization all components are opposite in the ground position. The people have thousands of different types conceivably the link motion gear. You may imagine a bag containing massive link motion gear the component: Two pole groups, three pole groups, four pole groups and so on, as well as components, rotation, motion, cam follower, gear, tooth chain, chain wheel, leather belt, belt pulley and so on. (Sphere movement, screw vice-as well as the permission three dimensional relative motion other connections not yet includes, here, discusses in parallel planes merely plane motion). Moreover you conceivable put these components various types link motion gear possibility which forms in the same place. How exists helps the people to control forms these organizations the rule? In fact, the majority organization duty is requests a sole input to transmit to a sole output. Therefore the single degree of freedom organization uses most one kind of organization type. For example, namely may see by the intuition: Four pole organizations are a single degree of freedom link motion gear.
The picture motion diagram and the determination organization degree of freedom process, is the movement analysis and the synthesis process first stage. In the movement analysis, adds on its characteristic according to the organization geometry shape which possibly knew (for example input angle, speed, angle acceleration and so on) studies the determination concrete organization. On the other hand, the movement synthesis is designs an organization to complete the duty process which an institute requests. In this, chooses the new organization the type and the size is a movement synthesis part. Conceives the relative motion ability, can guess the reason that designs an organization the reason and makes the improvement to a concrete design ability is like this a successful organization scientist's symbol. Although these abilities come from the congenital creativity, however more is because has grasped the technology which enhances from the practice.
1.1The movement analysis：
simple one of most useful organizations is four pole organizations. In on following elaboration majority of content centralism discussion link motion gear, but this procedure is also suitable for the more complex link motion gear.
We already knew four pole organizations have a degree of freedom. About four pole organizations, has the useful more contents which must know? Indeed is some! These pull the Xiao husband criterion including the standard, the transformation concept, the blind spot position (divergence point), branch office, transmission angle, with theirs movement characteristic, including position, speed and acceleration.
Four pole organizations may have one kind of being called as crank rocker organization form, one kind of double rocking lever organization, one kind of double crank (tension bar) does the organization, which one form send in is called as the organization, is decided in two pole movement scopes which (fixed component) connects with the rack. The crank rocker organization input component, the crank may revolve through 360° and the continuous rotation, but outputs the component to make the undulation merely (i.e. swing member). As an exceptional case, in the parallel four pole organization, inputs the pole the length to be equal to outputs the pole the length, the go-between length and the fixed link (rack) length, also is equal. Its input and the output all may make the complete alternation rotation or transform the being called as antiparallel quadrangle organization the overlapping structure. The standard pulls the Xiao husband criterion (theorem) to indicate that,If in four pole organizations, between two poles can do willfully relatively rotates continuously, that, its longest pole length is smaller than sum of with the shortest pole length or is equal to sum of the other two pole length.
Should pay attention: The same four pole organization, may have the different form, which pole is this decided in was stipulated (i.e. makes fixed link) as the rack. The movement transformation process is in the fixed organization transmission chain different member has the different organization rate process. Besides has about the component rotation scope knowledge, but also must have how causes the organization before the manufacture on energy “the revolution” the good measure, that will be very useful. Hardenbergh (Hartenberg) speaks of: “The revolution” is terminology, its significance passes to outputs the component the movement validity. It meant the revolution is steady, in which can in output in the component to have a strength or the torque biggest force component is effective. Not only although the final output strength or the torque are the connecting rod geometric figure functions, moreover also is generally the power or the force of inertia result, that is frequently big to like static strength several times. In order to analyze the idling or in order to easy to obtain how can cause any organization “the revolution” the index, the transmission angle concept is extremely useful. In organization movement period, the transmission angle value is changing. The transmission angle 0° may occur in the special position. Will output the pole but in this special position the movement with not to exert inputs on the pole the strength many to have nothing to do with greatly. In fact, as a result of the movement vice-friction influence, the general basis practical experience, with the transmission angle planning board which is bigger than the rating. The weight link motion gear transmission movement ability matrix foundation definition already studied. A determining factor value (it includes regarding some assigns organization graph, position output movement variable to input variable derivative) is a this link motion gear in concrete position mobility criterion.
If the organization has a degree of freedom (e.g. four pole organizations), then stipulated a location parameter, if the input angle, completely determined this organization stops position (neglect branch office's possibility). We may study one about four pole organization component absolute angular position analysis expression. When analyzes certain positions and (or) certain different organization time, this will be must be much more useful than the geometric figure analysis program, because this expression will cause the automated computation easy to program. The realization organization speed analysis relative velocity law is the speed polygon is one of several effective methods. This end (goes against) the spot to represent on the organization all spots, has the zero speed. From this the line which stipples respectively to the speed polygon in is representing the absolute speed which this organization photograph well should select respectively. In a line connection speed polygon random two points represents is taking on this organization two corresponding spot relative velocity.
Other method is the instantaneous center law, namely the instantaneous center law, this method is extremely useful moreover is frequently when the complex link motion gear analysis quick method. The instantaneous center is a spot, this spot in that flash, on between the organization two components does not have the relative motion. In order to discover known organization certain instantaneous centers the position, Kennedy the (Kennedy) three center theories extremely are useful. It is said that,Each other relative motion three object three instantaneous centers are surely in a straight line.
The organization various components acceleration is makes one be interested, because it affects the force of inertia, subsequently affects the machine part the stress, the bearing load, the vibration and the noise. Because the final goal is the machine and the organization force of inertia analysis, the all acceleration various components all should the disposable picture - - in the organization fixed component inertial coordinate system express in the identical coordinate system.
Should pay attention: Is opposite in rotates on the vice-rotation rigid body an acceleration component usually to have two fixedly. A force component direction cuts in this path, its direction is same with this object angle acceleration direction, and is called the tangential acceleration. Its existence is completely because the angular speed rate of change causes.
Another component, always aims at the object the center of rotation, is called the standard the centripetal acceleration, because this component the velocity vector direction has the change to exist. The movement comprehensive
Ganization is forms many mechanisms the basic geometry structural units, these mechanisms including automatic packaging, printer, mechanical toy, textile machinery and other machineries and so on. The typical organization must design causes the movement which the rigid component relative datum component produces hoped. The organization movement design is the movement synthesis, first step frequently designs the entire machine first. When consideration stress, must ask dynamics aspect question, the bearing load, the stress, the lubrication and so on the similar question, but the major problem is the machine structure question..
The movement scientist defines the kinematics as “the development facility movement and the foundation organization method”. This definition first part involves the kinematic analysis. The known organization, its constitution state of motion determined by the kinematic analysis. The narration movement analysis duty contains the organization between the main dimension, the component links mutually with the input movement technical characteristic or the actuation method. The goal is must discover the displacement, the speed, the acceleration, the impact or the beat (two step accelerations), with various components higher order acceleration which possibly occurs as well as describes the diameter mark and the movement which realizes by certain components. The definition second part of available following two aspect explained ：
1. research produces with the aid of the organization assigns the movement the method.
2. research construction to be able to produce assigns the motion the method, but in two plans, the movement is assigns the organization is the foundation. This is the movement synthesis essence. Such movement synthesis involves to for assigns the performance the organization system design. The movement synthesis aspect may sum up as following two kinds:
1. types are comprehensive. The stipulation requests the performance, how is one kind of type organization appropriate? (Tooth gear train, link motion gear? Cam gear?)How many components but should the organization have? How many degrees of freedom needs? How outline structure is hoped? . About the member number and the degree of freedom consideration was usually considered is in the type synthesis is been called as for a quantity synthesis branch domain.
2. sizes are comprehensive. The movement synthesis second predominant type is the best method which determined through the goal law. The size synthesis attempts to determine the organization the important size and the starting position, this organization is conceives beforehand for the realization stipulation duty and the anticipated performance.
Of the so-called important size meanings are refer about two poles, three poles and so on between the length or the pole are away from, angle between number of articles and spool thread, cam contour size, cam follower diameter, eccentricity, gear quota and so on. Expected the organization type possibly is the crank slide organization, four pole organizations, the tape reel from the moving parts cam gear, but or is non-has some kind of structure shape more complex link motion gear because by the analysis situs method which the inferior analytic method determined. Is comprehensive regarding the movement, in the convention has three duties: Function production, path production and movement production..
Inputs and outputs the component in the function production organization the rotation or the migration must be the interdependence. Regarding arbitrary function y=f(x), a movement synthesis duty possibly is designs a link motion gear to cause the input and the output establishes the relations in order to cause in the xo
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