Structural-topological synthesis of space mechanisms with rods and wheels

摘要

Today, robots are increasingly present in the machine building industry, sometimes even in some sections to replace workers altogether, due to the high quality of their work, repetitive, without stopping or pausing, without any manufacturing and assembly scuffs. In this paper, one presents the mechanisms with bars and gears, which are planetary mechanisms for robot automation and mechatronics, structurally-topological. The gears and bars consist of at least one movable articulated bar and one of the cylindrical, tapered or hipoidal gears. Only gears with circular or straight toothed gears, in which the relative position of the rotation or translation axes does not change, shall be considered. The topological structure of the gears and gears is characterized by a kinematic chain with articulated bars and at least one kinematic chain with gears. The kinematic chain may be chain open (with a fixed rotation joint) or closed chain (with at least two fixed joints). The kinematic chain with gears is attached to the kinematic chain with bars so that at least two gear wheels have centers in the bars of the bars and some wheels may be integral with the bars. In practice, some of these gears with gears and gears are known as planetary gears with cylindrical, conical or hipoidal gears.