| RRR-RRP六杆机构的MATLAB运动学仿真 |
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| 引用本文： | 曲秀全,焦映厚,陈照波.RRR-RRP六杆机构的MATLAB运动学仿真[J].机械科学与技术(西安),2003(Z1). |
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| 作者姓名： | 曲秀全 焦映厚 陈照波 |
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| 作者单位： | 哈尔滨工业大学机电工程学院 哈尔滨150006
(曲秀全，焦映厚)，哈尔滨工业大学机电工程学院 哈尔滨150006(陈照波) |
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| 摘 要： | 用复数推导了曲柄、RRR和 RRP 级杆组的位移、速度和加速度的复数表达式 ,并将其转化为适用于MATL AB仿真的矩阵数学模型 ,以该矩阵数学模型编制了相应的 M函数仿真模块 ,对给定的 RRR- RRP六杆 级机构为例说明如何使用这三个仿真模块建立 MATL AB仿真模型 ,并对其仿真结果的正确性加以分析。其主要思想是以组成机构的杆组为仿真模块 ,搭建各种机构 MATL AB仿真模型 ,可以对各种低副机构进行运动学仿真和分析
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| 关 键 词： | 运动学 机构 仿真 MATLAB 杆组 |
Kinematic Simulation of RRR-RRP Six-Bar Mechanism with MATLAB |
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| QU Xiu quan,JIAO Ying hou,CHEN Zhao bo.Kinematic Simulation of RRR-RRP Six-Bar Mechanism with MATLAB[J].Mechanical Science and Technology,2003(Z1). |
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| Authors: | QU Xiu quan JIAO Ying hou CHEN Zhao bo |
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| Abstract: | The complex formula of displacement, velocity and acceleration of crank, RRR and RRPⅡ degree basic bar group is derived by complex. The complex formula is changed to matrix formula for MATLAB simulation. According to the matrix formula, M function of crank, RRR and RRPⅡ degree basic bar group is built up for simulation model block. MATLAB simulation model of RRR RRP six bar mechanism is given for how to use the three simulation model block and correctness of simulation result is expounded. Our main contribution is that we have built a MATLAB simulation model of all kinds of lower pair mechanism by cell of basic bar groups. |
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| Keywords: | Kinematics Mechanism Simulation MATLAB Bar group |
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