Research on Avoiding Singularity of Linkage Mechanism by Self-Adaptive Structure

10.6567/IFToMM.14TH.WC.PS8.007

Rui-Qin Guo；Hai-Yan Gu；Wei Hu

Planar six-bar linkage ； Singularity ； Self-adaptive ； Avoid Singularity

Proceedings of the 14th IFToMM World Congress

14th-5（2015 / 11 / 06）

312 - 317

英文

Self-adaptive mechanism is a kind of intelligent control mechanism, and the singularity, namely, the output movement of the mechanism is uncontrollable due to kinematic bifurcation at the singular position, is the intrinsic characteristic of mechanism. The method of using self-adaptive mechanism to avoid singularity of sixbar linkage is put forward in this paper. Stephenson-III six-bar linkage is brought to analyze the singularity and the physical properties of configuration、kinematics and mechanics of mechanism at singular position. According to which, the regulatory conditions of avoiding singularity can be obtained as well as methods of implanting selfadaptive mechanism. At last, Stephenson-III mechanism is taken as an example to describe the application of method of avoiding singularity of self-adaptive mechanism in detail .At the same time, the change of trajectory and force state of mechanism is also analyzed after being implanted the self-adaptive mechanism.