7R六杆Ⅲ级机构的MATLAB动力学仿真  

Dynamic simulation of 7R six bar Ⅲ degree of freedom mechanism with MATLAB

作　　者：曲秀全[1] 李洪波[1] 孟庆鑫 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001 [2]哈尔滨工程大学机电工程学院,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2006年第10期1673-1676,共4页Journal of Harbin Institute of Technology

基　　金：黑龙江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M函数仿真模块,对给定的7 R六杆Ⅲ级机构为例说明如何使用这二个仿真模块建立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 and 6RⅢ degree 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 6RⅢ degree basic bar group is made up for simulation model block. MATLAB simulation model of 7R six bar Ⅲ degree mechanism is given for how to use the two simulation model block and correctness of simulation result is expounded. Main idea of the paper is to build MATLAB dynamic simulation model of all kinds lower pair mechanism by cell of basic bar groups.

关 键 词：动力学 机构 仿真 杆组 

分 类 号：TH132.41[机械工程—机械制造及自动化]