摘要
提出了一种对空间 7R机构作全面运动分析的方法。利用向量回转法建立了空间 7R机构的数学模型 ,应用数值分析方法调用MATLAB函数对 7R机构进行了运动分析 ,解出并利用绘图函数表达了 7R机构任一杆上任意点的速度和加速度。应用实例分析了空间 7R机构任一杆上任意点的轨迹、速度及加速度 ,表明所提出的方法是可靠的 。
The method by which the movements of 7R mechanism can be analyzed all sidedly was introduced. The method of rotation vector was used to build the mathematical model of the 7R spatial mechanism. The kinematic quality of the 7R Mechanism was analyzed with the method of numerical differential and transferring function of MATLAB, the velocity and acceleration of any point on any link were figured out and expressed by the drawing functions. The trajectory, velocity and acceleration of any point on any link were analyzed through the examples. The results can be used as the fundation of theory when the other spatial mechanism is to be analysed.
出处
《中国农业大学学报》
CAS
CSCD
北大核心
2004年第3期53-55,共3页
Journal of China Agricultural University
基金
国家自然科学基金资助项目 ( 10 172 0 11)
关键词
空间机构
7R机构
运动分析
spatial mechanism
7R mechanism
motion analysis
