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为建立空间机构计算机模型分析其运动特性,运用多体动力学原理,提出了一种机构运动学和动力学建模与分析方法。通过在约束运动副处的杆件上建立直角坐标系,建立了描述空间机构结构形态的符号体系。定义了杆件形状矩阵和约束运动矩阵,推导了其表达式。通过在运动链上连续使用变换矩阵,建立了空间机构的运动方程,实现了空间机构的运动分析。基于Hamilton原理,建立了空间机构的动力学方程。提出了通过定义空间3点来定义空间坐标系的方法,推导了杆件形状矩阵的表达式。以铰链约束运动副、球铰约束运动副和直齿圆柱齿轮约束运动副为例,根据其运动特性,分别定义其约束运动矩阵。开发了空间机构通用分析软件,给出了应用实例。
In order to establish a computer model of a space agency to analyze its motion characteristics and to apply the principle of multi-body dynamics, a method of modeling and analyzing the mechanism kinematics and dynamics was proposed. By establishing the Cartesian coordinate system on the rod restraining the deputy of movement, a symbolic system describing the structure of the space mechanism was established. Defined the rod shape matrix and the constraint motion matrix, and deduced its expression. By continuously using the transformation matrix in the kinematic chain, the equations of motion of the space agency are established, and the motion analysis of the space agency is realized. Based on the principle of Hamilton, the dynamic equation of space agency is established. A method of defining the spatial coordinate system by defining three points in space is proposed, and the expression of the shape matrix of the bar is deduced. Taking the constrained pairs of articulated joints, the constrained pairs of spherical hinges and the constrained pairs of spur gears as an example, their constrained kinematic matrices are defined according to their motion characteristics. The general analysis software of space agency was developed and the application examples were given.