Kinematic research of spatial four]link not Assurian mechanism

Abstract

Relevance of the research is caused by the need to explore new mechanisms that differ in structure from the Assyrians ones, for their subsequent usage in engineering practice. The main aim of the study is to study and development the universal method for researching mechanisms regardless of their structure, as well as the link adopted as the fixed one, on the example of kinematic study of a new patented not-assurian mechanism; to define the transition tensors for the kinematic pairs used in this mechanism; to obtain graphic dependences of the relative links positions to the input member. The methods used in the study: analytical method for converting homogeneous coordinates, known as a method of screw affinors. Euler angles were used to determine the relative angular displacement of links. The results. The authors have made an algorithm for studying the mechanisms, including not-assurian ones and determined the transformation tensors for one-mobile rotational kinematic pair of V class, for two-moving pair of IV class, implemented on the basis of the hydraulic cylinder and the piston and three-moving spherical joint of the III class. The graphic dependences of all unknown variables determining relative position of links of the studied mechanism in space were obtained. Conclusions. The paper substantiates the universal method for researching mechanisms regardless of their structure. If the mechanism is synthesized on the basis of the closed Grubler circuit, and its kinematics is researched by the considered methods, the universal solution for a group of analogical mechanisms, that have different link, adopted as a fixed rack, were obtained. The paper introduces the algorithm of creating the transition tensor from one coordinate system to another. A similar approach allows describing analytically any kind of relative connection of two adjacent links, which is not discussed in the article. Practical application. At rod pump operation in pumping units of the mechanized installations oil pump, the reciprocating movement is used. It is obtained by means of the rod pumping unit. If the spatial four-link mechanism is set in motion by means of the piston, the reciprocating movement of the output member will be assured. This can be used as an analogue of pumping units in oil mechanized installations