摘要
本文提出了一种以螺旋位移矩阵为数学工具的刚体导向综合的通用方法,导出了由转动副(R),圆柱副(C),滑动副(P),螺旋副(H),虎克铰(T)和球面副(S)构成的各种导向链的综合约束方程,这些约束方程间有很强的规律性,易于编写统一的计算机程序,并提出了约束方程简化求解的一种方法.
A unified method is given in this paper for the synthesis of rigid body guidance of spatial linkages using the screw displacement matrix as a ma- thematical tool,we have derived the synthesis constraint equations of various guide chains which consist of joints R,C,P,H,T and S,they are elegant, so it is easy to write out a unified computer program,and a method to simplify the calculation of the equations is given also.
基金
国家自然科学基金
关键词
连杆机构
刚体导向
螺旋位移
mechanism synthesis
spacial mechanism/guide chain
