小齿轮自调位装置的运动学建模及分析

利用多刚体系统笛卡儿运动学方法对小齿轮自调位装置进行建模。根据铰的性质建立邻接刚体的坐标问的约束方程。约束方程中描述空间刚体姿态的最基本参数为方向余弦阵，基于连体基的基点坐标与方向余弦坐标构成的最基本的笛卡儿坐标，导出一般形式的邻接刚体的基本约束方程。通过建立系统的位置、速度、加速度约束方程求解对系统运动学进行分析。

Kinematics Modeling and Analysis of Self-Aligning of Pinion

The use of multi-rigid body system Cartesian method of self-aligning pinion build kinematics modeling. According to the joint nature of the establishment adjacent to the rigid constraints of the equation between the coordinates. Constraint equations to describe the space of rigid body posture for the most basic parameters of the direction cosine matrix. Based on the Siamese-point coordinates with the direction cosine coordinates constitute the most basic of Cartesian coordinates. Export adjacent to the gene...