闭链二自由度平面五杆机构运动分析

Kinematics analysis for planar five-bar mechanism with dual freedoms

应用矩阵法建立常用闭链二自由度平面五杆机构基本杆组运动分析数学模型,并据此编制相应的杆组位移、速度和加速度分析模块,开发了平面五杆机构的计算机辅助分析与仿真系统,实现了机构运动参数数值计算、运动线图自动绘制和机构动态仿真等计算机辅助可视化运动分析,所建立的数学模型与开发的程序具有较强的通用性.最后以机械系统动力学分析软件ADAMS进行仿真,验证了机构运动分析数学模型及程序的正确性.

By using matrix method,kinematics analysis mathematical models of common basal group linkages are established,and their program modules of displacement, velocity and acceleration are established. A CAD system of the analysis and simulation for planar five-bar linkage mechanism with dual freedoms is developed in the visual language (Visual Basic 6.0). The software has the functions of numerical computation, motion chart drawing and motion simulating. The correctness of the mathematical models was validated by using automatic dynamic analysis software of mechanical system ADAMS.