基于MATLAB的空间7R机构位置分析的新方法

A new method of the position analysis of the spatial 7R mechanism based on MATLAB

利用向量回转法和MATLAB软件对空间 7R机构位置问题进行了分析研究 ,确定了各杆长和副长方向的单位向量 ,列出了机构的向量封闭方程 ,以及各杆位置方程 ;调用MATLAB矩阵运算函数和解非线性方程组函数 ,解出了其他各杆的位置与主动件输入角度的关系 ,以及任何一杆上任意点的空间轨迹 ,并利用绘图函数表达各杆的位置曲线及任意点的轨迹。实例分析证明所提出的方法是可靠的。

The method of rotation vector and software of MATLAB were used to analyze the displacement of the spatial 7R mechanism and confirm every pole and connection direction unit vector. The vectors' closed equations of the mechanism as well as every displace equations were developed and found the relation between other poles' position and the initiative input angle by transferring the function of the matrix operation and non-linear equation of MATLAB, then figured out the spatial track of any point of any pole. Drawing functions were used to express the displacement curve and any point track. The example showed that the given method is reliable.