RPR-RRP平面六杆机构系统的MATLAB动力学仿真  

Dynamic Simulation of RPR-RRP Planar Six Bar Mechanism System with MATLAB

作　　者：曲秀全[1] 焦映厚[1] 陈照波[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150006

出　　处：《系统仿真学报》2004年第11期2404-2408,共5页Journal of System Simulation

基　　金：黑龙江省自然科学基金资助项目(E0220)

摘　　要：用复数推导了曲柄、RPR、RRPⅡ级杆组的动力学数学模型,并将其转化为适用于MATLAB仿真的矩阵数学模型,以该矩阵数学模型编制了相应的三个M函数仿真模块。对给定的RPR-RRP平面六杆Ⅱ级机构系统为例说明如何使用这三个仿真模块建立MATLAB仿真模型,并对其仿真结果的正确性加以分析。其主要目的是以组成机构的杆组为仿真模块,搭建各种平面连杆机构MATLAB仿真模型,可以对各种低副机构进行动力学仿真和分析。The dynamic complex formula of crank, RPR and RRP II degree basic bar group is derived by complex. The complex formula is changed to matrix formula for MATLAB simulation. According to the matrix formula, three M-functions of crank, RPR and RRP II degree basic bar group are made up for simulation model block. MATLAB simulation model of RPR-RRP six bar II degree mechanism is given for how to use the three simulation model block and correctness of simulation result is expounded. The main idea of the paper is to build MATLAB dynamic simulation model of all kinds of lower pair mechanism by cell of basic bar groups.

关 键 词：动力学 机构 仿真 杆组 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]