空间机构动力学分析方法的研究  

RESEARCH OF SPATIAL MECHANISM DYNAMICS ANALYSIS METHODS

作　　者：袁清珂[1] 刘大慧[1] 惠延波[2] 张明天[1] 成思源[1] 

机构地区：[1]广东工业大学机电工程学院,广州510006 [2]河南工业大学机电工程学院,郑州450007

出　　处：《机械强度》2011年第1期40-44,共5页Journal of Mechanical Strength

基　　金：国家自然科学基金(50805025);广东省教育部产学研结合项目(2009B090300340);广东省科技计划(2008B010400011);广州市科技计划(2008Z1-D371)资助~~

摘　　要：在空间机构中约束运动副处的构件上建立笛卡尔直角坐标系,开发描述空间机构结构形态的符号体系,讨论杆件形状矩阵和约束运动矩阵,在运动链上连续使用变换矩阵,建立空间机构的运动方程,分析空间机构二种类型的动力学建模与分析方法,在此基础上开发空间机构动力学通用分析软件,并给出应用实例。Cartesian coordinate systems were built on the two links at a constraint kinematics pair respectively,so a notation set to describing spatial mechanisms was established.Link shape matrices and constraint motion matrices were discussed.By in series using these transform matrices on a kinematics chain,the motion equations of spatial mechanisms were set up.The modeling and analyzing methods for two kinds of spatial mechanism dynamics problems were explored.Based on the above research,the general analysis software spatial mechanisms dynamics were developed,an example was given.

关 键 词：空间机构 机械学 运动学 动力学 数值方法 软件工程 

分 类 号：TH112[机械工程—机械设计及理论] TH113