绞刀运动姿态的欧拉角表示  

Expression of the moving orientation of cutter by Euler angle

作　　者：苏召斌[1] 林森[1] SU Zhao-bin;LIN Sen(CCCC Tianjin Port & Waterway Prospection & Design Research Institute Co., Ltd., Tianjin 300457, China)

机构地区：[1]中交天津港航勘察设计研究院有限公司,天津300457

出　　处：《中国港湾建设》2017年第12期62-66,共5页China Harbour Engineering

摘　　要：传统的绞刀运动往往被简化为横移加旋转的二维运动方式,这种运动简化方法难以准确地定义绞刀的位置和姿态。以刚体运动学为出发点,严格推导了绞刀运动的欧拉表示方法,以全新的视角描述了绞刀的运动。对绕任意轴转动的欧拉旋转进行了公式推导,能够简单而准确地描述绞刀的位置和姿态变化。使用绞刀横移偏转角度、下放角度和旋转角度定义绞刀的位置和姿态,并给出了绞刀和刀齿位置姿态的表达形式。The traditional sports of cutter is often simplified as two-dimensional motion with transverse and rotation,this simplified method can not accurately define the movement and posture of cutter.As the starting point of the rigid body kinematics,we rigorously derived the Euler expression of cutter movement,and described the movement of the cutter from a new perspective.We deduced the Euler rotation to any axis,and can describe the position and attitude of the cutter simply and effectively.Uses the sliding angle,downward angle and revolving angle can define cutter position and attitude,and gives the expression of the position and attitude of cutter and tooth.

关 键 词：绞刀 欧拉角 坐标变换 

分 类 号：U615.351[交通运输工程—船舶及航道工程]