Modeling of kinematics and kinetostatics of planetary-lever mechanism
Abstract
Abstract The article provides analytical formulas for determining the kinematic parameters of a planetary-lever mechanism with one and two degrees of mobility. The obtained formulas were realized on a computer, in the program Math CAD 15. According to the results of calculations on a computer, regularities were established for the change in the kinematic parameters of the links of the mechanisms under consideration. The influence of the direction and magnitude of the angular velocity of the central wheel on the kinematic characteristics of the planetary-lever mechanism with two degrees of mobility has been determined. Formulas are created to determine the reaction in kinematic pairs of a planetary-lever mechanism with one degree of motility. Based on the calculation results and analysis provided, regularities of the reaction change in the kinematic pairs, as well as balancing moments in the carrier, were established during the basic geometric parameters of this mechanism were varied.