摘要
用旋量计算和对偶数矩阵法对空间机构作动力学分析．在杆件上加惯性力后，可用动静法得到对偶动力学平衡方程，并以空间五杆机构ＲＣＲＣＲ为例，说明该分析方法的应用．
This paper make a dynamic analysis of the Spatial mechanisms by using the screw calculus and the dual number matrices. Based on D'Alembert's principle, after applying inertia forces on to the links,the dual dynamic equilibrium equation can be reached. The spatial five-link mechanism RCRCR is given as an example to illustrate the proposed approach.
关键词
空间机构
旋量
对偶数矩阵
动力学
平衡方程
spatiai mechanism, screw, dual-number matrices, dynamic equililibrium equation.
