双输入七杆机构逆运动学分析

Inverse kinematical analysis of double input seven-bar mechanism

首先运用逆运动学分析的方法,推导出了七杆机构中各个构件的位移、速度和加速度计算公式以及两个伸缩杆的运动变化规律;然后结合分析实例,根据输出构件的运动规律,计算出驱动件的运动规律,最后分析了传动误差。利用液压系统反应快、便于自动化、易于实现频繁换向的特点,该机构可用来合成水平、垂直方向的复合运动,实现对摩托车、汽车等在高频随机载荷作用下运动规律的精确模拟。

At first using the method of inverse kinematical analysis, the computing formulae of displacement, velocity and acceleration of each component in the seven-bar mechanism and variation law of motion for the two expanding and contracting bar were derived, and then combining with analytical living example and according to the motion law of output component the motion law of driving part was computed, finally the transmission error was analyzed. Utilizing the characteristics of quick response, easy for automatization and easy to realize frequent commutation of the hydraulic system, this mechanism can be employed in composing the compound movement in horizontal and vertical direction, which could realize accurate simulation of the motion law for motorcycles and automobiles under the effect of random load in high frequency.