STRUCTURAL SYNTHESIS OF ASSUR EIGHT-BAR CLOSED KINEMATIC CHAINS OF THE FIRST FAMILY MOVABLE LINKS OF THE FOURTH TYPE

Abstract

The study objective is to develop a method for the structural synthesis of closed kinematic chains (CKC) of moving links onto Assur eight-bar CKC of the first family of the fourth type. The tasks are the following: based on the universal structural system of closed kinematic chains of the first family to determine the composition of solutions describing the arrangement of Assur closed kinematic chains of the first family with the complexity of the basic chain link equal to four, chain mobility equal to six and the total number of chain links equal to eight. To identify virtual chain links and obtain combinations of kinematic pairs and links that are the basis for constructing structural schemes of Assur eight-bar closed kinematic chains of the first family according to the given parameters. Using the obtained data, to consider constructing structural schemes of Assur eight-bar closed kinematic chains of the first family of the fourth type on a specific example. Research methods are the method of structural synthesis of closed kinematic chains of moving links of the first family, set theory and combinatorics, virtualization, identification and coding, graph theory. The novelty of the work: the features of applying a universal structural system for determining the composition of Assur eight-bar closed kinematic chains of the first family of the fourth type are given. Using a specific example, the order of applying the obtained solutions for synthesis of structural schemes of Assur eight-bar closed kinematic chains of the first family of the fourth type is considered. The study results: combinations of kinematic pairs and links are found, which make it possible to construct all possible structural schemes of Assur eight-bar closed kinematic chains of the first family under given parameters. A diagram of an eight-bar closed kinematic chain of the six subfamily movable links of the first family of the fourth type is obtained, from which single-movable eight-bar mechanisms of the first family can be formed by stopping one of the links.