リンク機構の幾何学と動力学を考慮した最適設計に関する研究

抄録

Inertia forces of high speed link mechanism depend on both the accelerations and the masses of moving links. Therefore, it is important for designing linkage to optimize the dimensions of links and to control the distributions of masses. In the present design method of planar linkage, the inertia forces do not be considered in the kinematic design stage. After deciding the dimensions, the inertia forces are balanced by using the method of redistributing masses, but it will be difficult for a link mechanism to improve dynamic characteristics greatly. This paper investigates the relationship between the geometric factors and dynamic characteristics for a planar link mechanism. A new graphical design method to improve dynamic characteristics in the geometric design of linkage is proposed. Two examples of mechanism are given, one is designed in considering the dynamic characteristics in the kinematic design stage, and the other is designed without considering it. Then the dynamic optimum design for two mechanisms are performed, and the shapes of coupler and lever of two mechanisms are given by using the small element method. It is known through comparing two mechanisms that the consideration of dynamics in the kinematic design stage is necessary to design a planar linkage with good dynamic characteristics.