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A technical diagram illustrating a cam-linkage variable transmission mechanism with labeled components, dimensions, and two accompanying graphs showing cam profile and output speed/torque relationships.

所设计的凸轮-连杆组合变矩机构工作原理如图3-1所示（对应“凸轮连杆机构图”）。该机构由输入凸轮、摆动从动杆（即摇杆AB）、连杆BC以及输出曲柄CD（即机械手主臂）组成，构成一个曲柄摇杆机构（ABCD）与一个摆动从动件凸轮机构的组合。 - **运动传递路径**：伺服电机驱动输入凸轮匀速转动。凸轮通过其轮廓推动滚子从动件，使摇杆AB绕A点摆动。摇杆AB的摆动通过铰链B传递给连杆BC，进而驱动曲柄CD（输出件）绕D点做往复摆动，最终带动末端执行器运动。 - **变矩原理**：1）**凸轮变矩**：通过设计凸轮的理论轮廓曲线，使摇杆AB获得非匀速的角位移规律 ωAB(t)。2）**连杆机构变矩**：四杆机构ABCD本身在不同位置具有不同的传动角 γ和瞬时传动比 i=ωABωCD。机构的最终输出角速度 ωCD是 ωAB(t)与 i的乘积，即 ωCD=ωAB(t)⋅i。根据功率守恒（忽略损耗），输出力矩 Tout与输入力矩 Tin满足 Tout⋅ωCD=Tin⋅ωin。由于电机输入角速度 ωin恒定，故 Tout∝ωCD1。因此，通过设计使 ωCD在需要大力矩的启动位置较小，在高速运行位置较大，即可实现输出力矩的自动变化。根据设计要求（负载5kg，臂长>800mm），初步确定机构关键尺寸参数：机架AD长度 LAD=200mm，输出曲柄长度 LCD=850mm（即工作臂展），连杆长度 LBC=600mm，摇杆长度 LAB=300mm。凸轮基圆半径 rb=40mm，根据期望的摇杆运动规律（启动段慢速，中段加速）设计凸轮理论轮廓。提供原理示意图下载 Mehr sehen

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