Synthesis of Four-Bar Linkages for Grippers with Application of the Theory of Stationary Curvature

Blagoyka Ilieva Paleva-Kadiyska, Vitan Borisov Galabov, Roumen Anchev Roussev

Abstract


Създаден е нов компютърно приложен линеен математически модел за синтез на грайфери с връзки с четири пръта, като се прилага теорията на кубическата стационарна кривина и по-специално кръгът на Картър-Хол за генериране на криви на Burmester. Моделът включва и условие за постигане на определена стойност на ъгъла на натиск, при което еднозначно се определя кинематичната схема на механизма. Математическият модел е илюстриран с два примера за синтез на механизмите на два захвата с практическо приложение. Първият се отнася до синтеза на механизъм с асиметрично отваряне на челюстите, а вторият – до захвата за преместване на пластини от една позиция в друга в различни технологии в микроелектрониката. Предложеният нов модел значително улеснява работата на инженерите при синтеза на четиризвенни механизми, които много често се срещат в съвременни устройства, като например някои грайфери за роботи в микроелектрониката. Новият метод избягва нелинейните математически модели за синтез, до които се стига с познатите методи за синтез по безкрайно близки позиции.

Keywords


Carter-Hall circle; Burmester curves; cubic of stationary curvature; pressure angle; synthesis of four-bar linkages

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References


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DOI: http://dx.doi.org/10.52155/ijpsat.v37.1.5029

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