基于MATLAB的空间7R机构位置分析的新方法  

A new method of the position analysis of the spatial 7R mechanism based on MATLAB

作　　者：周建成[1] 魏文军[1] 靳桂萍[2] 

机构地区：[1]中国农业大学工学院,北京100083 [2]北京航空航天大学工程训练中心,北京100083

出　　处：《中国农业大学学报》2003年第4期30-32,共3页Journal of China Agricultural University

摘　　要：利用向量回转法和MATLAB软件对空间 7R机构位置问题进行了分析研究 ,确定了各杆长和副长方向的单位向量 ,列出了机构的向量封闭方程 ,以及各杆位置方程 ;调用MATLAB矩阵运算函数和解非线性方程组函数 ,解出了其他各杆的位置与主动件输入角度的关系 ,以及任何一杆上任意点的空间轨迹 ,并利用绘图函数表达各杆的位置曲线及任意点的轨迹。实例分析证明所提出的方法是可靠的。The method of rotation vector and software of MATLAB were used to analyze the displacement of the spatial 7R mechanism and confirm every pole and connection direction unit vector. The vectors' closed equations of the mechanism as well as every displace equations were developed and found the relation between other poles' position and the initiative input angle by transferring the function of the matrix operation and non-linear equation of MATLAB, then figured out the spatial track of any point of any pole. Drawing functions were used to express the displacement curve and any point track. The example showed that the given method is reliable.

关 键 词：MATLAB软件 空间7R机构 位置分析 向量回转法 向量封闭方程 空间机构学 空间四杆机构 

分 类 号：TH112.1[机械工程—机械设计及理论] TP312[自动化与计算机技术—计算机软件与理论]