7R六杆Ⅲ级机构的MATLAB运动学仿真  

Kinematic simulation of 7R six bar Ⅲ degree mechanism 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150001

出　　处：《哈尔滨工业大学学报》2004年第12期1651-1654,共4页Journal of Harbin Institute of Technology

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、6RⅢ级杆组的位移、速度和加速度的复数表达式,并将其转化为适用于MAT LAB仿真的矩阵数学模型,以该矩阵数学模型编制了相应的M函数仿真模块,对给定的7R六杆Ⅲ级机构建立了MATLAB仿真模型.仿真结果分析表明:以组成机构的杆组为仿真模块可搭建各种平面连杆机构MATLAB仿真模型并可对各种低副机构进行运动学仿真和分析.The complex formula of displacement, velocity and acceleration of crank and 6R Ⅲdegree basic bar group is derived by complex. The complex formula is changed to matrix formula for MATLAB simulation. According to the matrix formula, M-function of crank and 6RⅢdegree basic bar group is made up for simulation model block. MATLAB simulation model of 7R six bar Ⅲ degree mechanism is given. Main idea of the paper is to build MATLAB simulation model of all kinds lower pair mechanism by cell of basic bar groups.

关 键 词：运动学 机构 仿真 杆组 

分 类 号：TH132.41[机械工程—机械制造及自动化]