图上涤支大峰 Double-rocker .Double-rocker >Input rocker:Limited rotation >Output link:Limited rotation e Q Steering mechanism Crane 周 上海充通大学 Two links:length is equal position is parallel 77777777 Coupler: horizontal motion ABCD BC ZAD Lift car Train wheel 6
6 Steering mechanism Double-rocker Crane A B D C E •Double-rocker Input rocker: Limited rotation Output link: Limited rotation Train wheel AB = CD BC = AD Lift car Two links: length is equal position is parallel Coupler: horizontal motion
国上清文大华 Mechanism inversion Inversion:grounding a different link in the kinematic chain Crank-slider Guidear Slider is rocking Slider is stationary 曲柄-滑块机构 导杆机构 摇块机构 定块机构 © 上海充廷大学 Application 回程 小型创床 (转动导杆机构) 牛头创床 (摆动导杆机构) 插步刀占 7
7 Crank-slider 曲柄-滑块机构 Guide-bar 导杆机构 Slider is rocking 摇块机构 Slider is stationary 定块机构 Mechanism inversion Inversion: grounding a different link in the kinematic chain 牛头刨床 （摆动导杆机构） 小型刨床 （转动导杆机构） Application
圈上海文大华 Mechanism inversion Tangent Mechanism Sine Mechanism Elliptical Trammel Mechanism 正切机构 正弦机构 双转块机构 椭圆机构 圈上游充大些 Mechanism inversion(机构倒置) Inversion:grounding a different link in the kinematic chain d Double-crank Double-rock Crank-rocker 8
8 Tangent Mechanism 正切机构 Sine Mechanism 正弦机构 双转块机构 Elliptical Trammel Mechanism 椭圆机构 Mechanism inversion Crank-rocker Double-crank Double-rock Inversion: grounding a different link in the kinematic chain Mechanism inversion(机构倒置)