Analytical modeling of a multi-linkage planar mechanism
Chunli Wang, Xiulong Chen, Yu Deng
In order to realize the analytical modeling of a planar multi-linkage mechanism, a six-bar linkage planar mechanism is taken as an example, the kinematic model of the six-bar linkage mechanism is established by complex number vector method, the dynamic model is established by Lagrange Method, the kinematic state and force state of mechanism are analyzed. Firstly, the model of displacement, velocity and acceleration of the six-bar mechanism are deduced by resolution method. Secondly, the dynamic model of six-bar mechanism is established by Lagrange Method. Finally, combined with examples, numerical verification and virtual simulation verification of the results of slider position, slider velocity, slider acceleration, and driving torque are all carried out. The research can not only provide theoretical basis for analytical modeling and solution of kinematic analysis, force analysis and structure design of the six-bar mechanism, but also suggest a way of thinking about analytical modeling for other multi-link mechanism.