A Method to Avoid Singularity of the Planar Four-bar Linkage by means of Self-adaptive Structure
The singularity,namely,the output movement of the mechanism is uncertain due to kinematic bifurcation at the singular position,is the intrinsic characteristic of mechanism,resulting in movement out of control.To find a practical solution for this vexed question to make mechanism able to avoid its singular position,is the greatest challenge in the field of mechanism.Based on the study of the planar four-bar linkage with singularity,the ideology of introducing self-adaptive mechanism theory into the solution of avoid singularity problem is firstly put forward in this paper.Using self-adaptive mechanism to complement the out of control parameters of singular position can make the mechanism have the ability to avoid singularity.Then the mechanism passes through the singular position smoothly with determined movement and load capability.Finally,the purpose of avoiding singularity is achieved.
Planar four-bar linkage Singularity Self-adaptive Avoid Singularity
Guo Ruiqin Hu Wei Ye Weiren Lin Song
School of Mechanical Engineering,Tongji University,Shanghai 201804,China Sino-German institute,Tongji University,Shanghai 201804,China
国际会议
天津
英文
1-5
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）