空间Bennett机构运动分析的几何投影法

A Geometric Projection Method for Kinematic Analysis of Bennett Linkage

基于画法几何投影坐标系统的方法研究了空间Bennett机构的运动分析,从几何角度出发,将空间连杆机构的空间问题转化成平面问题,使问题求解变得简单。给出了投影坐标系统建立原则,并建立Bennett运动分析模型,用Matlab绘制了输出构件的角位移、角速度、角加速度图。通过与用D-H坐标变换方法相比,该分析方法显得更简单和直观。最后以具体实例进行了分析,验证了该方法的有效性。

This paper focuses on studies about a geometric projection method for kinematic analysis of Bennett linkage. The analysis becomes more simpler by transforming the space problem to planar problem in the projected coordinate system. The projection coordinate system and the kinematic analysis model of spatial Bennett linkage are established, and the kinematic analysis curve of Bennett linkage is output with Matlab. Compared with traditional method of D-H parametric coordinate transformation, this method is more simple and intuitive due to binary mathematical equations. In the example,3D model is built in Pro/E and the kinematic analysis is conducted. The corresponding analysis results obtained from two ways are the same, which proves the feasibility of the method.