Synthesis of spatial five- and six-letter mechanisms with rotational pairs by the movement of the output link

Abstract

The article discusses spatial mechanisms with rotational pairs that allow the movement of the output link or working body with a given accuracy while ensuring the necessary rigidity and reliability of the structure. Its durability is also significantly increased, energy losses are reduced, since all hinge assemblies (rotational kinematic pairs) are made on rolling bearings and are reliably isolated from the external environment. The article is also devoted to the synthesis (design) of functional spatial six-branch mechanisms with rotational pairs reproducing with a given accuracy the linear function of the change in the angle of rotation of the output link, provided it is fully rotatable. The objective function and dependencies necessary for the design of such mechanisms are obtained and an algorithm for solving this problem in CAD is developed.