Modeling and Analysis Method of Spatial Mechanism Kinematics

您当前的位置：

首页 >

文章列表页 >

Modeling and Analysis Method of Spatial Mechanism Kinematics

更新时间：2025-07-09

- Modeling and Analysis Method of Spatial Mechanism Kinematics
- Vol. 43, Issue 5, Pages: 99-103(2009)
- 作者机构：
  
  广东工业大学机电工程学院,广州,510006
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP113.2;TH112
- Online First：10 May 2009，
  
  Published：2009
- 稿件说明：
移动端阅览
Modeling and Analysis Method of Spatial Mechanism Kinematics[J]. 2009, 43(5): 99-103.
DOI：

Modeling and Analysis Method of Spatial Mechanism Kinematics[J]. 2009, 43(5): 99-103. DOI：

摘要

为了快速高效地建立空间机构运动模型以进行运动学特性分析

运用多体动力学原理

提出了一种计算机符号建模与数值的计算方法. 在每根杆件上的运动副处建立笛卡尔直角坐标系

用这些坐标系之间的关联关系来描述空间机构的结构形态

推导了同一杆件上2个坐标系之间的变换关系

得到了杆件形状矩阵. 根据运动副的类型和属性

推导了同一运动副处不同杆件上2个坐标系之间的变换关系

得到了运动副约束矩阵. 通过在运动链上连续使用变换矩阵

建立了空间机构的数学模型

并用推导的运动方程对时间求导

得到了空间机构的速度和加速度方程.研究表明

由开发的空间机构运动学分析软件

结合空间4杆机构的运动学分析

验证了建模与求解方法的正确性

从而为空间运动机构建模与运动学分析提供了一种有效的方法.

Abstract

To rapidly and efficiently model and analyze the kinematics characteristics of spatial mechanism kinematics

a computer symbols model and a computational method were proposed based on multi-body dynamics theory. The relationship among the Cartesian coordinates which are built on the joints of each link was utilized to describe the configuration of spatial mechanisms. The link shape matrices were obtained from the relationship between the two coordinate systems on the same link. According to the type and property of joints

the joint constrain matrices were obtained from the relationship between the two coordinate systems of the same joint on the two links. Using these transform matrices on the kinematics chains in series

the mathematical model of spatial mechanisms was developed

and the motion equations of spatial mechanisms were derived. The velocity equations and acceleration equations were obtained by the time first derivatives and second derivatives of the motion equations. Accordingly

a general software was developed for analyzing spatial mechanism kinematics. A spatial four bars mechanism was modeled and analyzed by this software

and the correctness of the proposed method and the software were verified.

关键词

Keywords

references

BI Z M, ZHANG W J, CHEN I M, et al. Automated generation of the D-H parameters for configuration design of modular manipulators [J]. Robotics and Computer Integrated Manufacturing, 2007, 23(5): 553-562.

王存堂, 周天悦. 基于D-H矩阵的径向柱塞泵的运动学分析 [J]. 拖拉机与农用运输车, 2008, 35(3): 74-76.

WANG Cuntang, ZHOU Tianyue. Kinematic analysis of radial piston pump based on D-H matrix [J]. Tractor Farm Transporter, 2008, 35(3): 74-76.

朱拥勇, 王德石. 基于封闭矩阵方程的空间摆盘机构运动学分析 [J]. 机械设计, 2006, 23(2): 57-59.

ZHU Yongyong, WANG Deshi. Dynamics analysis of spatial swinging plate mechanism based on closed matrix equation [J]. Journal of Machine Design, 2006, 23(2): 57-59.

ARSENAULT M, GOSSELIN C M. Kinematic static and dynamic analysis of a planar 2-DOF tensegrity mechanism [J]. Mechanism and Machine Theory, 2006,41: 1072-1089.

YANG Jingzhou, KARIM A M. Design propagation in kinematics of mechanical systems [J]. Mechanism and Machine Theory, 2007,42: 807-824.

YAO Qing, DONG Jingyan, FERREIRA P M. A novel parallel-kinematics mechanism for integrated, multi-axis nanopositioning part 1: kinematics and design for fabrication [J]. Precision Engineering, 2008,32: 7-19.

DONG Jingyan, YAO Qing, FERREIRA P M. A novel parallel-kinematics mechanism for integrated, multi-axis nanopositioning part 2: dynamics control and performance analysis [J]. Precision Engineering, 2008,32: 20-33.

刘玉斌,赵杰,杨永刚,等. 6-PRRS并联机器人正逆奇异性研究 [J]. 西安交通大学学报,2007, 41(8):922-926.

LIU Yubin, ZHAO Jie, YANG Yonggang, et al. Study on forward and inverse singularity of a 6-PRRS parallel robot [J]. Journal of Xi'an Jiaotong University,2007, 41(8):922-926.

黄昔光,廖启征,魏世民,等. 基于Groebner-Sylvester法的一般6-6型台体并联机构位置正解 [J]. 西安交通大学学报,2008, 42(3):300-303.

HUANG Xiguang, LIAO Qizheng, WEI Shimin,et al. Forward kinematics of general 6-6 Stewart mechanisms based on Groebner-Sylvester approach [J]. Journal of Xi'an Jiaotong University, 2008, 42(3):300-303.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

A Designing Method for Parallel Shaft Internal-Meshing Line Gear with Pure-Rolling Contact

Numerical Simulation of the Energy Conversion Process in Thermoacoustic Engines with Different Stack Materials

Sensitivity Analysis of Foil Geometrical Parameters for the Third-Generation CO2 Gas Foil Bearings Based on Design of Experiments Method

Influence of Structural Parameters on the Summer Operational Characteristics of a Three-Tower-in-One Indirect Air-Cooling System

Integrated and Joint Design Optimization of Centrifugal Compressor Impeller and Casing Treatment at Multiple Working Points

Related Author

何迪

何恩义

殷诗浩

吴海华

杜义贤

叶喜葱

Related Institution

College of Mechanical and Power Engineering, China Three Gorges University

⁰