基于MATLAB的CCS空间机构运动学仿真

Kinematics Simulation for Spatial CCS Mechanism Based on MATLAB

以向量代数及回转变换矩阵为工具,建立了CCS空间机构从动构件上一点的运动学数学模型。因该模型中位移方程、速度方程及加速度方程求解时包含大量的矩阵运算。故运用MATLAB语言开发了求解该模型的应用程序,该程序对求解结果辅以二维和三维图形仿真,使该机构的运动学特性可视化。最后通过算例予以验证。

Kinematics model of a point on driven lever of spatial CCS mechanism was established mathematically by vector algebra and matrix operations. MATLAB language was selected to solve the model because the point's displacement equation, velocity equation and acceleration equation include many matrix operations, and the applied programs of graphic simulation based on MATLAB language could realize visual kinematics property.