Abstract: Dynamic simulation of planar linkage is divided into two types of kinematic analysis and dynamic analysis. The Kinematic analysis, which is the basis of the mechanical design, evaluation of mechanical motion and the dynamic performance, and it is the basic of Analyze Optimal Synthesis of new machinery of existing machinery. the main access to institutions of certain components of the displacement, angular velocity and angular acceleration, and some points of track, speed and acceleration. The Dynamic Analysis, which provides a theoretical basis for Selecting and designing of bearings, parts strength calculation and selection of the original motivation, Constraints derived anti-vice campaign and the drive force (or torque) based on the analysis of kinematics and the Working resistance.
In this paper, using vector and matrix theory applicable to the MATLAB / SIMULINK simulation of the crank, RRR Ⅱ class bar group mathematical model of kinematics and dynamics, and using this mathematical model draw up M Function Simulation Module, a RRR four -bar linkage and a RRR-RRR six institutions were taken as example ,the procedures of modeling and simulating. Obtain the deputy of the anti-rotation force and driving torque through the simulation. Its main purpose is to constitute the body of the bar group Simulation Module, building the MATLAB / SIMULINK simulation model for the bar group, to do the kinematic and dynamic simulation and analysis for different types of planar linkage.
Keyword: Linkage Kinematics Dynamics MATLAB/SIMULINK Simulation目 录
1 绪论
1.1选题的依据及意义 1
1.2国内外研究概况及发展趋势 1
1.3研究内容及实验方案 4
2 曲柄、RRRⅡ级杆组的MTALAB运动学仿真
2.1用MATLAB实现牛顿-辛普森求解 5
2.2用MATLAB进行速度分析 6
2.3曲柄、RRRⅡ级杆组MATLAB运动学仿真模块 7
2.4四杆机构的MATLAB运动学仿真 10
2.5四杆机构MATLAB运动学仿真结果 12
3 曲柄、RRRⅡ级杆组的MTALAB动力学仿真
3.1曲柄、RRRⅡ级杆组MATLAB动力学仿真模块 15
3.2四杆机构的MATLAB动力学仿真 19
3.3四杆机构MATLAB仿真模型的初值确定 21
3.4四杆机构MATLAB动力学仿真结果 21
4 RRR-RRR六杆机构的MTALAB运动学仿真
4.1 RRR-RRR六杆机构 24
4.2 RRR-RRR六杆机构MATLAB仿真模型 24
4.3 RRR-RRR六杆机构MATLAB真模块 26
4.4 RRR-RRR六杆机构MATLAB仿真模块中初值的确定 27
4.5 RRR-RRR六杆机构MATLAB运动学仿真结果 29
5 RRR-RRR六杆机构的MTALAB动力学仿真
5.1 RRR-RRR六杆机构 33
5.2 RRR-RRR六杆机构MATLAB仿真模型 33
5.3 RRR-RRR六杆机构MATLAB仿真模块 35
5.4 RRR-RRR六杆机构MATLAB仿真模块中初值的确定 38
5.5 RRR-RRR六杆机构MATLAB运动学仿真结果 38
总 结 41
参考文献 42
致 谢 43