用弹簧平衡空间机构驱动力矩的实验研究

在机构动态平衡方面,驱动力矩平衡是个重要课题。本文通过在自制的RSKR空间机构实验台上驱动力矩平衡实验验证了《空间机构弹簧元件的综合》一文的理论。实测结果表明,加弹簧后驱动力矩峰峰值降低了66%,该值与理论值之差小于14%(在测试系统误差15%之内)。

Experimental Researches on the Balancing of Driver Torque in Spatial Linkages Using Spring Element

In the dynamic balancing of mechanisms, the balancing of driver torque in spatial linkages is a significant problem. In this paper, the theory titled "The Synthesis of Spring Element in Spatial Linkages"is verified by means of experimental researches. The experimental researches are implemented on a selfmade set of RSKR spatial linkage. These researches show that a peak-up-peak value of driver torque is found to be capable of reducing the original one by more than sixty-six-percent, adding a spring. The difference between this value and theoretical one is less than fourteen-percent with there being fifteen-percent of measuring errors in the system.