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| 基于四元数法求解球面七杆机构的位置 | |
| 引用本文： | 张 帅,王 品,许东来,张兆凤,赵立普,杜佳明.基于四元数法求解球面七杆机构的位置[J].上海第二工业大学学报,2011,28(2):144-153. |
| 作者姓名： | 张 帅 王 品 许东来 张兆凤 赵立普 杜佳明 |
| 作者单位： | 1. 北京工业大学机电学院,北京,100124 2. 鲁东大学交通学院,烟台,264025 3. 浙江大学机械工程学系,杭州,310027 4. 河北工业大学机械工程学院,天津,300130 5. 上海大学机电工程与自动化学院,上海,200072 |
| 摘 要： | 对国内外球面机构特点、理论及性能研究的进展等内容进行了简要综述,并且使用四元数对球面七杆机构进行数学建模,求出各个转动副在球面上的位置,根据角度关系,列出3个约束方程。在消元过程中,使用Sylvester结式分两次求出一元32次方程。然后借助Mathematica软件求解其位置参数,完成其位置分析。 |
| 关 键 词： | 球面七杆机构 位置分析 四元数法 |
The Position Analysis of Spherical 7-Bar Mechanism Based on Unit Quaternion |
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| ZHANG Shuai,WANG Pin,XU Dong-lai,ZHANG Zhao-feng,ZHAO Li-pu,DU Jia-ming.The Position Analysis of Spherical 7-Bar Mechanism Based on Unit Quaternion[J].Journal of Shanghai Second Polytechnic University,2011,28(2):144-153. | |
| Authors: | ZHANG Shuai WANG Pin XU Dong-lai ZHANG Zhao-feng ZHAO Li-pu DU Jia-ming |
| Affiliation: | ZHANG Shuai1,WANG Pin2,XU Dong-lai1,ZHANG Zhao-feng3,ZHAO Li-pu4,DU Jia-ming5(1.College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing 100124,P.R.China,2.School of Transportation,Ludong University,Yantai 264025,3.Department of Mechanical Engineering,Zhejiang University,Hangzhou 310027,4.School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,5.School of Mechatronics Engineering and Automation,Shangha... |
| Abstract: | The academic achievements about characteristics of spherical bodies,the progress of theory and performance studies,which are studied at home and abroad,are introduced in the paper.And with using quaternion to construct mathematical model for spherical 7-bar Mechanismk,every position of revolute joint on the surface of unit sphere can be obtained.Three constraint equations are obtained according to the angles constraint.Using Sylvester resultant elimination by two steps,a 32 degree univariate polynomial equa... |
| Keywords: | spherical 7-bar mechanism position analysis unit quaternion |
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