摘要
建立了基于约束的平面连杆机构系统运动学模型,通过表达式树实现基于牛顿-拉夫森迭代法的通用非线性方程组求解器。设计了平面连杆机构系统的编辑交互方式,实现运动学方程组的程序自动列式求解,求解结果可反馈到程序界面实现机构的运动仿真动画,并且输出位移、速度、加速度线图及数据。程序算法不依赖杆组理论,可求解任意杆组级别及多原动件的平面连杆机构。最后以一牛头刨床六杆机构为例介绍了该程序的用法,并与ADAMS仿真结果对比验证了正确性。
In this paper,kinematic model of a planar linkage mechanism based on the constraint is established,and the general nonlinear equations solver based on the Newton-Raphson iteration is realized by using the expression tree. The interaction operating mode of the planar linkage system is designed. The program could write and solve the kinematics equations automatically. The solution results could be feedback to the interface so as to realize the motion simulation of the mechanism,and be used to output the graph and data of displacement,velocity,acceleration. The program is not relied on the bar-groups theory,therefore,any bar-groups and multi-original motive parts of the plane linkage mechanism could be acceptable. Finally,a six-bar mechanism is introduced as an example to illustrate the usage of this program,and the correctness of the solution is verified by comparing with the ADAMS simulation results.
出处
《机械研究与应用》
2018年第1期141-145,共5页
Mechanical Research & Application
关键词
平面连杆机构
非线性方程组
运动学分析
planar linkage mechanism
nonlinear equations
kinematics analysis
