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空间连杆机构由于其结构紧凑,运动多样,灵活可靠,在各种工作机械 (如农业机械,轻工机械,飞行器,机械手等),某些发动机以及仪表机构中得到了大量的应用。在研究空间连杆机构的某些性能如运动的急回特性,摇杆的最大转角以及确定执行元件的始未位置时,都需要求出机构的极限位置。对于平面连杆机构来说,由“Grashof Condition”可以得到较好地解决。但是,对于空间连杆机构来说,目前还没有类似于“Grashof Condition”的一般方法。本文用图解法就寻找RSSR机构的极限位置作一些探讨。
Because of its compact structure, diverse movement, and flexibility, the spatial linkage mechanism has been widely used in various types of working machinery (such as agricultural machinery, light industry machinery, aircraft, manipulators, etc.), some engines and instrumentation agencies. When studying some of the characteristics of the spatial linkage such as the snapback behavior of the movement, the maximum pivoting angle of the rocker and the determination of the initial position of the actuator, it is necessary to find the limit position of the mechanism. For the plane linkage body, by the “Grashof Condition” can get a better solution. However, there is currently no general method similar to “Grashof Condition” for the spatial linkage. This article uses graphic methods to find the limit position of RSSR institutions to make some discussions.