Analytical kinematics for direct coupled shafts using a point-surface contact

8th International Conference on Advanced Concepts in Mechanical Engineering

Ciornei, F.C.^1 ; Doroftei, I.^2 ; Alaci, S.^1 ; Prelipcean, G.^3 ; Dulucheanu, C.^1

Mechanics and Technologies Department, Stefan Cel Mare University of Suceava, Romania^1

Mechanical Engineering, Mechatronics and Robotics Department, Gheorghe Asachi Technical University of Iasi, Romania^2

Bosch Company, Cluj, Jucu, Romania^3

关键词: Direct coupling;    Frame of reference;    Geometrical conditions;    Kinematics analysis;    Numerical methodologies;    Particular solution;    Spatial mechanism;    Surface contact;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/444/5/052002/pdf
DOI  :  10.1088/1757-899X/444/5/052002

来源: IOP

【 摘 要 】

The purpose of the paper is to accomplish the kinematics study of a direct coupling between two shafts with a high pair joint, of point-surface type. Due to Hartenberg and Denavit, the kinematics analysis of spatial mechanisms can be made by a well-known method, named the "homogenous operators method". This manner is applicable only for spatial mechanisms containing cylindrical pairs with particular solutions: prismatic pair and revolute pair. In order to apply the Hartenberg-Denavit procedure for the two shafts, the contact between the two shafts must be previously replaced by a succession of 5 prismatic and revolute pairs. It results a system of six trigonometric equations with six unknowns that requires a numerical methodology for solving it. The paper aims to obtain an analytical dependency between the motions of the two shafts. To this end, the geometrical condition that defines the connection between the two shafts is directly used. Thus, after all positional parameters are expressed in the same frame of reference an equation between the positional parameters of the two shafts is obtained.