RRSS机构空间连杆曲线图谱的自动生成

Automatically Creating Spatial Link Curve Atlas of RRSS Mechanism

以向量代数及回转变换矩阵为工具,建立了RRSS空间机构任意连杆轨迹曲线数学模型。运用适合求解该模型的MATLAB语言,开发了求解程序并对求解结果辅以三维图形仿真,实现了该空间机构连杆曲线图谱的自动生成。最后给出了两个算例。本研究对促进该空间机构在机构选型与机械运动方案设计中的应用具有重要意义。

First,trace model about a voluntary point on link bar of spatial RRSS mechanism was established mathematically by vector algebra and matrix operations.Second,solving the forgoing model,MATLAB language was selected because the point's displacement equation included many matrix operations,and the applied programs of dimensional graphic simulation based on MATLAB language could create spatial link curve atlas of RRSS mechanism automatically.Finally,two examples were given.The investigation will be helpful for applications of the mechanism in design of machine system.