空间机构运动学建模与分析方法的研究_袁清珂.pdfVIP

43 5 西 安 交 通 大 学 学 报 Vol. 43 l 5 2009 5 JOURNAL OF XIcAN JIAOTONG UNIV RSITY May 2009 1 2 , ( 1. , 510006, ; 2. , 710049, ) : 为了快速高效地建立空间机构运动模型以进行运动学特性分析, 运 多体动力学原理, 提出 了一种计算机符号建模与数值的计算方法. 在每根杆件上的运动副处建立笛卡尔直角坐标系, 这些坐标系之间的关联关系来描述空间机构的结构形态, 推导了同一杆件上2 个坐标系之间的变 换关系,得到了杆件形状矩阵. 根据运动副的类型和属性, 推导了同一运动副处不同杆件上2 个坐 标系之间的变换关系,得到了运动副约束矩阵. 通过在运动链上连续使 变换矩阵, 建立了空间机 构的数学模型, 并 推导的运动方程对时间求导, 得到了空间机构的速度和加速度方程. 研究表明, 由开发的空间机构运动学分析软件, 结合空间4杆机构的运动学分析,验证了建模与求解方法的正 确性, 从而为空间运动机构建模与运动学分析提供了一种有效的方法. : 空间机构; 结构形态; 符号建模; 运动学分析 : TH 112; TP11312 : A : 0253-987X(2009) 05-0099-05 Modeling and Analysis Method of Spatial Mechani sm Kinematics 1 2 YUAN Qingke , JIANG Gedong ( 1. College of M echanical and lectrical ngineering, Guangdong University of T echnology, Guangzhou 510006, China; 2. School of Mechanical ngineering, Xican Jiaotong University, Xican 710049, China) Abstract: To rapidly and efficiently model and analyze the kinematics characteristics of spatial mechanism kinematics, a computer symbols model and a computational method were proposed based on mult-i body dynamics theory. T he relationship among the Cartesian coordinates which are built on the joints of each link was utilized to describe the configuration of spatial mechanisms. T he link shape matrices were obtained from the relationship between the two coor- dinate systems on the same link. According to the type and property of joints, the joint constrain matrices were obtained from the relationship between the two coordinate systems of the same joint on the two links. Usin