Research on the Methodology for Drive Selection and Defect Judgment of 5-SS Rigid-body Guidance Mechanism

10.6567/IFToMM.14TH.WC.OS8.010

Jian-You Han；Jia-Chun Xing；Guang-Zhen Cui；Tong Yang

5-SS linkage ； Branch and circuit ； Drive selection ； Judgment defect

Proceedings of the 14th IFToMM World Congress

14th-2（2015 / 10 / 27）

406 - 412

英文

A new approach is given to select drive and judge the defects of the 5-SS linkage. Firstly, the method for selecting driving links of the 5-SS linkage is presented, and the motion characteristics with different driving links are analyzed. Then the method to judge the defects is proposed. Through calculating the Jacobian matrix's determinant value of the 5-SS linkage, we can know whether the determinant value changes its sign at the given positions. Thus we can estimate whether there are positions in which the determinant values are zeros. Then, in order to get the ＂locked up＂ position of the 5-SS linkage, we establish the 5-SS linkage model and simulate. Through the comparison with the result of the Jacobin matrix's determinant, the method of judgment defect is acquired. The branch defect can be avoided through changing the drive before the ＂locked up＂ position and the combinations of the drives are proposed. Finally, the conclusion is proved correct through a synthesis example.