Algebraic synthesis of single-loop 6R spatial mechanisms for constant velocity transmission between two adjacent parallel, intersecting or skew axes

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL Mechanism and Machine Theory Pub Date : 2024-07-03 DOI:10.1016/j.mechmachtheory.2024.105725

Kai Liu , Xianwen Kong , Jingjun Yu

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Abstract

This paper addresses the algebraic synthesis of novel single-loop 6R spatial mechanisms, enabling constant -1:1 or 1:1 velocity ratio transmission between two adjacent axes, whether parallel, intersecting, or skew. Based on the motion polynomial over dual quaternions, an algebraic synthesis method including four steps is presented to construct and optimize single-loop 6R spatial mechanisms with a constant transmission ratio of -1:1 or 1:1 between arbitrarily designated input and output axes. Using this method, several novel single-loop 6R spatial mechanisms for constant velocity transmission are constructed by designating different poses and rotation directions of the input and output axes. Kinematics analysis of single-loop 6R spatial mechanisms is implemented to verify their transmission characteristics. The results reveal that the generated 1-DOF single-loop 6R novel mechanisms can indeed transmit motion with a constant transmission ratio of -1:1 or 1:1 between two adjacent parallel, intersecting, or skew axes. This work provides a framework for further investigation on single-loop mechanisms with special transmission characteristics.

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两个相邻平行轴、相交轴或倾斜轴之间匀速传输的单环 6R 空间机构的代数合成

本文论述了新型单回路 6R 空间机构的代数合成，该机构可在两个相邻轴（无论是平行轴、相交轴还是倾斜轴）之间实现速度比为 -1:1 或 1:1 的恒定传输。以双四元数上的运动多项式为基础，介绍了一种代数合成方法，包括四个步骤，用于构建和优化在任意指定的输入轴和输出轴之间具有-1:1 或 1:1 恒定传输比的单环 6R 空间机构。利用这种方法，通过指定输入轴和输出轴的不同位置和旋转方向，构建了几种新型的匀速传递单环 6R 空间机构。对单环 6R 空间机构进行了运动学分析，以验证其传动特性。结果表明，生成的 1-DOF 单环 6R 新型机构确实可以在两个相邻的平行轴、相交轴或倾斜轴之间以-1:1 或 1:1 的恒定传输比传输运动。这项工作为进一步研究具有特殊传输特性的单环机构提供了一个框架。

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry