| 基于切比雪夫逼近的空间RSSH机构运动分析 |
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| 引用本文： | 倪振松,廖启征,魏世民,李瑞华.基于切比雪夫逼近的空间RSSH机构运动分析[J].北京工业大学学报,2011,37(12):1767-1772. |
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| 作者姓名： | 倪振松 廖启征 魏世民 李瑞华 |
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| 作者单位： | 北京邮电大学自动化学院,北京100876／天津工业大学天津市现代机电装备技术重点实验室,天津300160;北京邮电大学自动化学院,北京,100876 |
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| 基金项目： | 国家“九七三”计划资助项目(2004CB31800);国家自然科学基金资助项目(50775012,50875072);国家“八六三”计划资助项目(2007AA04Z211);北京市自然科学基金资助项目(30530173082014) |
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| 摘 要： | 以空间RSSH机构为例,对其进行运动分析.首先根据解析法建立RSSH机构的运动分析模型,得到其运动分析方程,并采用矢量运算消除一些中间变量;进而通过切比雪夫方法将超越方程中的正弦和余弦函数转化为多项式方程,从而得到一个一元高次方程,此方法没有增根,这对于包括H运动副的机构求解是一种可行的解决方案.
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| 关 键 词： | 螺旋副 切比雪夫函数逼近 运动学分析 |
Kinematics of RSSH Analysis Research Based on Chebyshev Approximation |
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| NI Zhen-song,LIAO Qi-zheng,WEI Shi-min,LI Rui-hua.Kinematics of RSSH Analysis Research Based on Chebyshev Approximation[J].Journal of Beijing Polytechnic University,2011,37(12):1767-1772. |
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| Authors: | NI Zhen-song LIAO Qi-zheng WEI Shi-min LI Rui-hua |
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| Affiliation: | 1 (1.Automation School,Beijing University of Posts and Telecommunications,Beijing 100876,China; 2.Tianjin City Key Laboratory of Modern Mechatronics Equipment Technology,Tianjin Polytechnic University,Tianjin 300160,China) |
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| Abstract: | The kinematics analysis of RSSH mechanisms is made in this paper.First,a kinematics analysis model is established,elimination of intermediate variables with vector operation is obtained by motion analysis equation.A polynomial equation is obtained from Transcendental equation in the sine and cosine function through the Chebyshev method.The method,without any roots,is a new viable solution to modeling and the Vice-H of spatial mechanism. |
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| Keywords: | screw Chebyshev function approximation kinematics analysis |
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