共查询到18条相似文献,搜索用时 125 毫秒
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应用数学机械化方法和计算机符号处理技术,对三分支3-RRRS并联机器人机构直接位置问题进行了符号求解。该法通过对变量的排序、多项式分组、约化、构成是、求余等虎,将一组非线性多项式方程化简为一个同价的三角化方程组,导出了单变量的16次代数方程,得到了封闭形式的解析解。REDUCE软件衩工给出一个数字实例说明这种方法。 相似文献
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平面四杆机构函数综合的符号解法 总被引:2,自引:0,他引:2
本文应用数学机械化方法和计算机符号处理技术,对平面四杆机构函数综合问题进行了符号求解;该法通过对变量排序、分组、约化、构成基列、求余等运算,将一个非线性多项式方程组化简为一个同价的三角化方程组,得到了原方程组的封闭形式的解析解。 相似文献
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数学机械化方法在平面多杆复杂机构位置分析中的应用 总被引:1,自引:0,他引:1
本文基于数学机械化方法和计算机符号处理技术,对平面多杆复杂机构的位置分析进行了符号法求解,该法成功地将一组非线性多项式方程化简为一组等价的三角化方程,导出了单变量的16次代数方程,得到了位移分析的封闭形式的解析解。符号推导和符号运算借助于计算机代数系统REDUCE完成,并给出一个数字实例说明这种方法。 相似文献
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数学机械化方法在平面多杆复杂机械位置分析中的应用 总被引:2,自引:1,他引:1
本文基于数学机械化方法和计算机符号处理技术,对平面多杆复杂机构的位置分析进行了符号法求解,该法成功地将一组非线性多项式方程化简为一组等价的三角化方程,导出了单变量的16次代数方程,得到了位移分析的封闭形式的解析解,符号推导和符号运算借助于计算机代数系统REDUCE完成,并给出一个数字实例说明这种方法。 相似文献
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基于Groebner基法和计算机符号处理技术,对三自由度并联机床的位置正解问题进行了符号求解。该法通过对变量排序。建立多项式对的集合,求SP多项式,约简等运算,将一组非线性方程组化简为同价的三角化方程组,得到了封闭形式的解析解;导出了雅可比矩阵,引入了符号处理技术,并且对该并联机床的可操作性进行了分析,给出了具体数值实例。 相似文献
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空间RSSR刚体导引机构综合的吴方法 总被引:1,自引:0,他引:1
本文应用吴方法和计算机符号处理技术,对空间RSSR刚体导引机构综合问题进行了符号求解,将一个非线性多项式方程组成功地化简为一个等价的三角化方程组,得到了机构综合的封闭形式的解析解,并给出一个数字实例说明这种方法。 相似文献
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This study proposes a new, large-scale, eight-link mechanical press that consist of four single degree-of-freedom (DOF) planar eight-link mechanisms and has a carrying capacity of 2000 tons. Kinematic analysis of a single DOF planar eight-link mechanism is presented. On the basis of kinematic analysis and the required output displacement curve, a single DOF planar eight-link mechanism is synthesized using differential evolution algorithm. We propose the use of an improved minimum sum of displacement variance (MSDV) cost function to minimize the influence of processing error on the same positions of different single DOF planar eight-link mechanisms. The improved MSDV cost function enables the setting of different weights for different stages with one stroke depending on the importance of each stage. Simulation results show that the designed mechanical press is consistent with the requirements, and that the improved MSDV cost function effectively reduces the influence of machining error. 相似文献
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A general approach is described for deriving the equations of motion of planar linkages in high-speed machinery. Based on the work of several current authors, well-known displacement finite element method is used to develop the mass and stiffness properties of an elastic linkage. To demonstrate the various steps in the analysis, a 4-bar linkage is utilized; however the method is readily extendible to other planar multi-loop linkages. Starting with a typical elastic planar beam element, the nodal displacement and acceleration expressions are derived including the terms coupling the elastic and rigid-body motions. The linkage is modeled as beam elements and its equations of motion are stated in matrix form. Methods are described for systematic assembly of all elements, resulting in the undamped equations of motion of the total system. Conventional forms of structural damping are reviewed and appended to this paper for inclusion in the equations of motion. This paper also includes assumptions made in order to simplify the analyses here as well as facilitate numerical solutions. 相似文献
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平面3-RRR并联机器人运动分析的计算机模拟逼近法 总被引:1,自引:0,他引:1
提出一种新的平面3自由度并联机器人运动分析方法,计算机模拟逼近法。运用该方法进行了速度和加速度分析。先采用CAD的几何约束、尺寸约束、尺寸方程和尺寸驱动技术,构造平面3—RRR3自由度机器人的模拟机构。再用两个相同且彼此靠近的平面3自由度机器人模拟机构,构造速度模拟机构,求解动平台上确定点的速度和角速度。最后用两个相同且彼此靠近的平面3—RRR机器人速度模拟机构,构造加速度模拟机构,求解动平台上确定点的加速度和角加速度。计算机模拟结果与解析法的结果比较表明,该方法具有简单、快捷、直观、求解精度高的优点,而且可以完成复杂机构的运动分析,为多自由度机构运动分析提供了更有效的工具。 相似文献
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一种混联型虚拟轴机床的位置正确与工作空间分析 总被引:5,自引:0,他引:5
提出了以4自由度空间并联机构作为主进给机构,辅以双向移动工作台实现多坐标数控加工的一种混联型虚拟轴机床的配置方案,推导出了主进给机构位置正确的封闭方程,基于曲面分析方法分析了主进给机构及其虚拟轴机床的工作空间,并给出了数值实例。 相似文献
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A centro-based characterization of singularities in the workspace of planar closed-loop manipulators 总被引:4,自引:0,他引:4
The paper presents a centro-based characterization of singularities in planar multi-DOF mechanisms with arbitrary kinematic structure. A multi-DOF mechanism is treated as an assembly of several single DOF link sets and hence the terms like affected link set, active link set and active centro have been defined. Criteria for end-effector dependent and end-effector independent singularities of a closed-loop manipulator with given output link have been established in the paper in terms of centroes. Based on the relative disposition of the centroes, the singularities have been classified into five types and their physical implications have been explained. End-effector dependent singularities are shown to lie on the coupler curve of a larger single DOF mechanism. A simple linkage transformation has been proposed for the study of manipulators with physical limits on joint motion under the general framework of close-loop manipulators. Several examples have been worked out to demonstrate the centro-based method of singularity analysis. 相似文献