KINEMATICS OF THE EPICYCLICAL MINUTEMAN （运动学的EPICYCLICAL民兵）.pdfVIP

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2017-08-06 发布于浙江
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KINEMATICS OF THE EPICYCLICAL MINUTEMAN （运动学的EPICYCLICAL民兵）.pdf

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KINEMATICS OF THE EPICYCLICAL MINUTEMAN （运动学的EPICYCLICAL民兵）

U.P.B. Sci. Bull., Series D, Vol. 73, No. 1, 2011 ISSN 1454-2358 KINEMATICS OF THE EPICYCLICAL MINUTEMAN COVER DRIVE Stefan STAICU1 Articolul stabileşte relaţii matriceale pentru analiza cinematică a unui tren de roţi dinţate cu un grad de libertate. Mecanismul epiciclic Minuteman este un sistem cu patru elemente mobile şi trei cuplaje prin roţi dinţate controlate de un motor electric. Cunoscând mişcarea de rotaţie a efectorului, problema de cinematică inversă este rezolvată printr-un procedeu bazat pe relaţii de conectivitate. În final, se obţin câteva grafice pentru unghiurile de rotaţie, vitezele unghiulare şi acceleraţiile unghiulare de la intrarea şi ieşirea din sistemul mecanic. Matrix relations for the kinematics analysis of a 1-DOF planetary gear train are established in the paper. The epicyclical mechanism of the Minuteman cover drive is a system with four moving links and three gear pairs controlled by one electric motor. Knowing the rotation motion of the effector, the inverse kinematics problem is solved based of the connectivity relations. Finally, some simulation graphs for the input and output angles of rotation, angular velocities and angular accelerations are obtained. Keywords: Connectivity relations; Gear train; Kinematics List of symbols qk ,k −1 : orthogonal relative transformation matrices from the frame xk −1y k −1z k −1 to following frame x y z k k k u , u , u : three orthogonal unit vectors 1 2