求解机器人臂速度和加速度的CAD变量几何法

提出求解机器人臂平面多自由度机构的速度和加速度的CAD变量几何方法。用CAD变量几何技术，构造一些典型的机器人臂多自由度平面机构的模拟机构。再用两个相同且彼此靠近的多自由度机器人臂模拟机构，构违速度模拟机构，求解各个机构输出杆的速度。最后用两个相同且彼此靠近的多自由度平面连杆速度模拟机构，构追加速度模拟机构，求解机构的输出杆的加速度。计算机变量几何方法求解结果与解析法的结果比较表明，文中方法不仅具有简单、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。

CAD variable geometric method for solving the velocity and acceleration of robot arms

CAD variable geometric method was put forward to solve the velocity and acceleration of planar multi-DOF mechanism of robot arms. By the use of CAD variable geometric techniques a number of typical simulative mechanisms of multiDOF planar mechanism of robot arm were constructed. And then using two identical simulative mechanisms of multi-DOF planar mechanism, which were put close to each other, to construct the velocity simulative mechanism so as to solve the ve locity of the output rod of each mechanism. Finally using two identical simulative mechanism of multi-DOF planar link, which were put close to each other, to construct the acceleration simulative mechanism in order to solve the acceleration of output rod of mechanism. The comparison between the result of the solution with computer variable geometric method and the result of the analytical method showed that the method in this paper is not only possessing the advantages of simplicity, rapidity, visualization and high solving accuracy but also could accomplish motion analysis of complex mechanism, thus provided a more effective means for motion analysis of multi-DOF mechanism.