| 连杆机构运动学统一建模及通用系统设计 |
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| 引用本文： | 宗志坚,戴同.连杆机构运动学统一建模及通用系统设计[J].西北工业大学学报,1996,14(4):638-642. |
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| 作者姓名： | 宗志坚 戴同 |
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| 作者单位： | 西北工业大学，华中理工大学 |
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| 摘 要： | 提出了连杆机构的通用模型表达；基于矩阵法，推导了机构运动学统一建模公式；在以上基础上，实现了连杆机构运动学分析的通用系统ＧＨＭＥＣＨ。
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| 关 键 词： | 连杆机构，运动学分析，奇次变换矩阵 |
Construction of Unified Model and Development of General Software for Kinematic Analysis of Linkage |
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| Zong Zhijian,Dai Tong,Zhou Ji.Construction of Unified Model and Development of General Software for Kinematic Analysis of Linkage[J].Journal of Northwestern Polytechnical University,1996,14(4):638-642. |
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| Authors: | Zong Zhijian Dai Tong Zhou Ji |
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| Abstract: | A unified logical model is presented to describe the topological structure of mechanism.By adopting the homogeneous transformation method and introducing movement topological coefficients and the vector notation,a group of standard,concise and unified kinematic models are deduced, which are applicable to any planar or spatial linkage and can be used directly. Finally,a general software of analysis and simulation for linkage,called by us GHMECH (Fig.3),is developed and some illustrations of application are given(Figs. 4 and 5). |
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| Keywords: | linkage mechanism Kinematic analysis homogeneous transformation matrix |
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