摘要
分析了封闭环矢量运动分析法,提出了3个构件元概念:构件矢量元、雅可比元和雅可比速度元。由于构件元只与构件本身形态有关,可以非常方便地结合到构件的绘图程序中,通过引入有效因子,也可以很方便地组合成整个机构的雅可比矩阵和雅可比速度矩阵,从而得到了一种运动分析自动建模新方法。讨论了复杂平面机构封闭环的通用分析方法和利用构件元自动建模与运动分析的步骤。编程实验及实际程序测试表明,本方法具有极强的模块性,对复杂机构计算机自动求解的编程非常适用。
Through the kinematic analysis approach of mechanism with closed loop vector equations,three kinds of link units,including link vector unit,Jacobian unit and Jacobian differentiation unit,were proposed.Since they are only relative to sizes and shapes of link,these units can be programmed with link drawing subprograms together.Using the effect factors,the units were combined together to build Jacobian matrix and differentiation Jacobian matrix of whole mechanism,and a new automated modeling approach to analyzing planar linkages motion was gotten.This paper also discussed general method analyzing closed loops in complex linkages,as well as algorithm for automated modeling and kinematic analysis.Programming the kinematic analysis and testing with many planar linkages showed that the approach is suitable for automated solving kinematics of complex mechanism due to its modular property.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2010年第2期214-220,226,共8页
Transactions of the Chinese Society for Agricultural Machinery
基金
福建省自然科学基金资助项目(A0440006)
