The displacement, velocity and acceleration analysis of the general spatial 7R mechanism is discussed in this paper, fused on the method proposed in Ref. [2], an input-output algebra equation of the 16th degree in the...The displacement, velocity and acceleration analysis of the general spatial 7R mechanism is discussed in this paper, fused on the method proposed in Ref. [2], an input-output algebra equation of the 16th degree in the tan-half-angle of the output angular displacement is derived. The derivation process and computation are considerably simple. A program written in Allanguage is used to derive the coefficients of displacement equations: therefore the amount of manual work is greatly decreased. The results are verified by a numerical example. The researches of this paper and Ref. [5]found a base for establishing an expert system of spatial mechanism analysis in the future.展开更多
文摘The displacement, velocity and acceleration analysis of the general spatial 7R mechanism is discussed in this paper, fused on the method proposed in Ref. [2], an input-output algebra equation of the 16th degree in the tan-half-angle of the output angular displacement is derived. The derivation process and computation are considerably simple. A program written in Allanguage is used to derive the coefficients of displacement equations: therefore the amount of manual work is greatly decreased. The results are verified by a numerical example. The researches of this paper and Ref. [5]found a base for establishing an expert system of spatial mechanism analysis in the future.
