摘要
建立了空间连杆机构的分析模型,利用矢量回转法确定了空间机构连杆上沿任一直线作匀速运动的动点轨迹矢量方程,即动点轨迹方程,并进一步地对矢量方程进行微分求出动点在任一瞬时时刻的速度和加速度;建立了空间机构连杆上任一直线的轨迹曲面方程,即连杆曲面方程;再应用MATLAB函数绘制了空间机构连杆上任一直线上动点的轨迹曲线、速度和加速度图以及连杆曲面图,为空间机构研究和机器人设计提供了理论基础。
The analytic model is established for spatial linkage mechanisms. According to the method of rotation vector, the track＇s vector equation of one moving point is found out in any beeline on the link of the spatial mechanism, and the equation is done differential to figure out the instantaneous velocity and acceleration of the point. Then curved surface＇s equation of the beeline is built by the same method. MATLAB furiCtions are used to draw diagrams of the point＇s track, velocity and acceleration as well as curved surface of the line. The analysis methods supply theory basis for mechanisms＇ study and robots＇ design.
出处
《农机化研究》
北大核心
2006年第3期50-52,共3页
Journal of Agricultural Mechanization Research
关键词
机械学
空间机构
分析
动点轨迹
连杆曲面
mechanics
spatial mechanism
analysis
track of moving point kinematics
curved surface of the link
