摘要
基于向量回转代数,推导出了向量连续回转的导数与微分的递推计算关系,并阐明了向量微小回转的一些重要性质,从而建立了向量的微回转代数。向量的微回转代数是机构运动分析的有限微回转法的数学基础,作为向量微回转代数的应用、本文对一空间一般7R,7杆机构进行了运动分析。
Based on the algebra of rotation, this paper derives the relations between the derivatives of successive rot at ions, bringing to a number of important properties of infinitesimal rotation. The algebra of infinitesimal rotation is the mathematical background of the micro-rotation method,a method for the kinematic analysis of mechanisms. As a concrete example of application cf tbs algebra, the paper also discusses ths kinematic analysis of a general spatial 7R, 7-link mechanism.
出处
《北京理工大学学报》
EI
CAS
CSCD
1989年第1期74-83,共10页
Transactions of Beijing Institute of Technology
关键词
向量回转
有限微回转法
机构运动
vector rotation, micro-rotation method, vector infinitesimal rotation algebra, kinematic analysis of mechanism.
