一般空间7R机构的运动分析
Kinematic Analysis of the General Spatial 7R Mechanism
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摘要: 本文对一般空间7R机构进行位移、速度和加速度分析.在文[2]所述方法的基础上,导出输入输出16次代数方程,推导和计算比较简便.文中利用人工智能语言确定位移方程的系数,大大减轻人工劳动量.此外,在位移分析的基础上进行速度和加速度分析.文末以数字实例验证了计算结果.本文和文[5]的结果,为进一步应用人工智能语言,建立空间机构运动分析专家系统打下了基础.Abstract: 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.
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[1] 陈惟荣,一般空间7R机构位移分析的矩阵法,应用数学和力学,8,10(1987),901-910. [2] 廖启征、梁崇高、张启先,空间7R机构位移分析的新研究,机械工程学报,22,3(1988,9). [3] 李宏友、梁崇高,空间一般七杆7R机构的位移分析,第四届全国机构学学术讨论会(1986,8). [4] 陈性荣,应用图论的优化方法进行空间机构的位移分析和自由度计算,机械设计,2(1986). [5] 陈惟荣,《齿轮啮合理论》,煤炭工业出版社(1988). -
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