• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 1992, Vol. 28 ›› Issue (6): 68-73，3.

• 论文 • 上一篇    下一篇

扫码分享

一般多体系统位移分析的变换矩阵法

毛明;程瑞延;张相麟   

  1. 中国北方车辆研究所
  • 发布日期:1992-11-01

MATRIX METHOD FOR DISPLACEMENT ANALYSIS OF GENERAL MULTIBODY SYSTEM

Mao Ming;Cheng Ruiting;Zhang Xiangtin   

  1. China North Vehicte Research Institute
  • Published:1992-11-01

摘要： 本文阐明了各种共轭副即接头（包括各种低副和各种高副）的运动学参变量，建立了各种接头连接的两构件之间相对运动的变换关系式。以回路制的方程为基础，建立了一般多体系统位移分析变换矩阵法的统一数学模型。该模型与建立在D-H描述基础上的低副机构位移分析变换矩阵法的数学模型一致。因此，彻底解决了高副、低副运动学分析的数学模型建立的问题。

关键词: 机械, 矩阵, 运动学

Abstract: A generalized modeling procedure for general multibody systems, including higher and lower pairs, is developed, such that the relative motion of all kinds of joints eon be represented by well-developed and established (4×4) matrix based on D-H notation. The medaling procedure is very suitable in writing computer program of kinomatio and dynamic analysis of general multibody systems. As an illustration, the modeling of a revolute joint is presented.

Key words: Kinematics, Machinery, Matrix

版权所有 © 2019 《机械工程学报》编辑部 | 京ICP备05055788号-30