THE DESIGN OF UNIQUE MECHANISMS AND MACHINES. II

A cardinal breakthrough is possible in the transition of mechanisms of lower class (class II) to high class (class IV and above) to design new mechanisms and machines. For the first time a new concept based on approximation theory is offered for mechanisms of high class aimed at solving kinematic, kinetostatic and dynamic problems. Methods, algorithms and programs are developed to define the position of links and reaction forces in the joints for mechanism of class IV at any given accuracy. A numerical experiment has shown a huge advantage of mechanism of class IV to design a new mechanism for aircraft's chassis (the mechanism of the robotics and auto crane's boom outreach having a heavy payload), as well as for control devices of working bodies with high speeds for hydraulic hammers and presses. At the same time minimum of reaction forces in the joints for these mechanisms as well as the minimum of balancing force to select the required drive with low power is provided.