An General theory of structural synthesis of normal, paradoxical Self- Aligning lever mechanisms and the practice of their creation in mechanical engineering for operation in different h-spaces

The paper presents general theory of structural synthesis of the self-aligning lever mechanisms consisting of closed circuits without harmful excess connections and operating in the given full space with the number of freedom degrees of h (1 ? h ? 6). This theory includes new analytical structural dependences of the input and output parameters to construct mechanisms missing the redundant connections and designed for directed structural synthesis and analysis, taking into account the new trigonometric objective function of the structural synthesis, angular structural equations and extended structural mathematical model of all possible self-aligning mechanisms. Effectiveness of the structural synthesis proposed general theory was confirmed by examples of structures (at the inventions level) built on the basis of cylindrical hinges with the different possible mutual arrangement of their axes. They include vibration mechanism with the elastic dynamic bonds, space flat manipulator of the spatial mixer, folding articulated manipulator, multi-capacity turbulent mixer and spatial parallelogram manipulator without special uncontrolled and “dead” positions. Operability of all synthesized lever mechanisms designed to operate in the homogeneous and mixed spaces was theoretically confirmed according to a new universal (unified) structural formula for calculating the mechanism mobility, as well as by the prepared experimental models of the operating mechanisms made on the basis of new single-moving rotational kinematic pairs.