含复铰有移动副平面链运动分析数学模型的自动建立与求解-机械工程专业论文.docxVIP

I II Abstract The purpose of structural type optimize of kinematic synthesis of mechanism is to select the mechanism which can realize the objective movement best from many mechanisms of different structure types. The kinematic analysis is a necessary step in kinematic synthesis of mechanism. So the kinematic analysis must be carried out for mechanisms before the kinematic synthesis. On the basis of former researches, planar kinematic chains with multiple joints and prismatic pairs are taken as the research object in this paper. And the method for automatically establishing and solving the mathematical model of kinematic analysis to those kinematic chains is discussed. The main works are as follows: Based on connective relations between each links in the component adjacency matrix, the breadth first spanning tree can be got easy and basic loops are obtained from it. Then the mathematical model-loop equation for kinematic analysis is generated. This method is systematic. In the sense of mechanism, this method makes the topological structure of kinematic chains get in touch with the kinematic analysis. Then, according to the characteristics of prismatic pairs’ movement, sections with prismatic pairs in the basic loops are assorted. And a method is put forward to treat those sections. At the same time the corresponding changing formulas are listed to ensure that the method can eventually unify the kinematic characteristics of prismatic pairs and joints. It is beneficial to automatically generate the mathematical model of kinematic analysis in computer. Taking the C++ language and the Matlab software as a development tool, it is discussed that how to carry out the method which is for automatically establishing the mathematic model of the kinematic analysis to planar kinematic chains with prismatic pairs and multiple joints in the computer. On the basis of the adjacency table, the storage structure of breadth first spanning trees is improved and the storage structure of