基于对偶数的平面及球面机构位移分析

Displacement analysis of planar and spherical mechanisms based on the dual-number

利用对偶数对平面及球面机构进行位移分析,通过在连杆机构各铰链处建立坐标系,利用坐标变换矩阵构成闭环方程,对闭环方程矩阵中等式两侧对应位置的已知及未知量进行联立,求解出机构的位置函数.

Displacement analysis of the planar and spherical mechanism based on the dual-number is carried out. The coordinate system at the joints of the linkage mechanism is established and then the coordinate transformation matrix is used to form the closed loop equation. The known and unknown quantities of the corresponding positions on both sides of the equation in the closed loop equation matrix are combined to solve the position function of the mechanism.