A Synthesis Method of Open-Chain Coupled Serial Linkage Mechanism Fusing Trajectory and Posture

Abstract

In order to meet the motion characteristics requirements of multi-objective fusion of execution components, a synthesis method of open-chain coupled serial linkage mechanism fusing trajectory and posture is proposed. According to periodic change characteristics of the execution component trajectory and posture of the linkage mechanism, the motion characteristics equation including trajectory and posture information is established by using Fourier series. The harmonic parameters of the link trajectory and posture are calculated according to the principle of discrete Fourier transform. The complex vector theory is applied to determine the functional relationship between the harmonic parameters of the trajectory and posture and the independent variable of the linkage mechanism, and furthermore the motion synthesis equation of the open-chain linkage mechanism fusing trajectory and posture information is established. The linkage mechanism parameters are calculated using Mathcad Prime software. The single-degree-of-freedom open-chain coupled serial linkage mechanism fusing trajectory and posture information is obtained by using a noncircular gear planetary gear train to couple the connection points of the linkage mechanism. The correctness of the method is verified through an example.