空間7Rリンク機構の運動特性解析 : 第2報, 影響係数解析および7Rリンク継手

概要

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The sensitivities of the general spatial 7-link, 7R mechanism, namely, the ratios of the small changes in angular displacements of the links to the deviations of the kinematic constants, are estimated as the solutions to the simultaneous equations obtained from partially differentiating the necessary and sufficient equations for the purpose of displacement analysis. The partial differential coefficients that comprise the elements in the simultaneous equations are given in a recurrence formula. By using this procedure, the sensitivities of a constant-velocity joint as a special case of the general spatial 7-link, 7R mechanism are analyzed, and they are divided into four classes. Moreover, by using the noninfluencing or mutually compensating characteristic of sensitivities, asymmetric constant-velocity joints of the 7R linkage type are derived.
一般社団法人日本機械学会の論文
1996-12-25