STUDY OF THE KINEMATICS OF THE SIX-MEMBERED MECHANISM OF ASSUR GROUP IV OF CLASS II ORDER

Study of the kinematics of a six-element mechanism containing an Assur Group IV class II order group with a variable closed loop with a translational pair is considered with a general scheme for determining the “initial” positions. The method is based on lowering the class of high-class mechanisms by conditionally replacing the rack and selecting as its one o f the links of the movable variable contour of the mechanisms of the high classes; then, in reverse motion relative to the conventionally selected racks, the angle formed by the conventionally selected rack and the adjacent contour link is taken as the generalized coordinate. This method allows to lower to the II class or the III class of Assur groups of high classes. The method is also applicable to the mechanisms of high classes with different single and multi-circuit Assur groups. Applying conditional replacements of racks reduces the task of analyzing the “initial” positions to analytically solving or minimizing only one objective function of the residual where the conditional generalized coordinates method requires the simultaneous minimization of two objective functions, and thus the task of analyzing this kind of mechanism is simplified. In the numerical solution of the problem of finding the “initial” positions o f high-class mechanisms, we can mention the widely used method of conditional generalized coordinates, the essence of which is to transform the projection system of vector equations for closed contours to one or two nonlinear trigonometric equations, respectively for Assur groups with non-uniformly and uniformly distributed leads. Numerical computer analysis shows that the proposed method of determining the “initial” positions requires significantly less computer time as compared to the approaches ofanalyzing the positions of the mechanisms of the high classes. The method of conditional replacement of racks allows you to create an effective set of computer programs for analyzing the “initial” positions of high-grade mechanisms.

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