变杆长/变扭角空间机构的位置分析

Position Analysis of a New Spatial Mechanism

针对某些工程由于受机构固定构件的限制而难以完成的问题,给出了一种新型空间机构,该机构能够在工作中改变某个参数的运动规律而实现所需的特殊空间轨迹。利用向量回转法建立了该空间机构的数学模型,调用Matlab函数分别对变杆长RRRSR-l2机构和变扭角RRRSR-α1机构进行了位置分析,解出并利用绘图函数表达了两机构同一杆上同一点的轨迹曲线,并进行了分析比较。

A new spatial mechanism was developed in this work. A mathematical model for this new mechanism was established by the rotation vector method. By using Matlab functions, spatial position analyses for the variable link-length mechanism and the variable link-twist-angle mechanism were conducted. The track of the same point on a link rod was drawn and analyzed. The analyzing method proved correct. The method provides a theoretical foundation for designs of robot, picking machine, planting mechanism and so on.