Abstract:

Joints laminated coupling can be simplified into a spatial RSSR mechanism.The paper obtained the coordinates of both ends of coupler of RSSR mechanism by means of the method of matrix transformation,derived the input and output equations according to the invariance of length of coupler;at the same time,
obtained three relative corners of coupler relative to the output shaft according to the direction cosine matrix.The paper also obtained the corresponding position equation by projecting the closed vector on the axis;and derived the relative angular velocity and angular acceleration by asking the first derivative and the second time derivative of three corners.At last,on the basis of these,the absolute angular velocity and absolute angular acceleration of the output shaft were abtained.

Key words: joint laminated couplings, RSSR, matrix transformation, motion analysis

摘要：

关节叠片联轴器可简化为一种空间RSSR机构。利用矩阵变换法得出RSSR机构连杆两端的坐标，并根据连杆杆长的不变性导出输入、输出方程;再根据方向余弦矩阵得出连杆相对输出轴的三个相对转角，进而对封闭向量在坐标轴上投影，得出相应的位置方程;对三个转角求一阶导数、二阶导数，求出相对角速度、相对角加速度,在此基础上得到输出轴的绝对角速度与绝对角加速度。

关键词: 关节叠片联轴器, RSSR, 矩阵变换, 运动分析