RPR-RRP六杆机构的MATLAB运动学仿真

Kinematic Simulation of RPR-RRP Six Bar Mechanism with MATLAB

本文用复数和矩阵建立了曲柄、RPR、RRPⅡ级杆组的运动学的数学模型 ,并编制了相应的M函数仿真模块 ,对给定的RPR -RRP六杆机构进行了建模和仿真 ,其主要思想是以组成机构杆组为仿真模块 ,搭建各种机构MATLAB仿真模型 ,对各种低副机构进行运动学仿真。

Math model of crank , RPR and RRP basic bar group is built by complex and matrix.It′s M-function for simulation is made up. MATLAB simulation model of RPR-RRP six bar mechanism is given . Main idea of the paper is to build MATLAB simulation model of all kinds lower pair mechanism by cell of basic bar gourps.