| Popis: |
A method is presented for kinematical synthesis of an RS-SRR-SS adjustable spatial motion generator for three alternate tasks. Three separate systems of synthesis equations to exactly generate the first and the last positions for each task are obtained for the R-S by co-plane and constant distance conditions, for the S-R-R by co-plane, constant distance conditions and inversion theory, and for S-S by constant distance condition. Based on these equations, mathematical model for approximately generating the intermediate positions for each task is formulated. This method is characterized by reduction of the unknowns and equations in both exact and approximate syntheses. As a result, computing work is to be decreased obviously. |
