RRP平面连杆机构的动态仿真

论文编号:JX1619  论文字数:9508.页数:38 附任务书，开题报告，外文翻译,其他文件见截图

RRP平面连杆机构的动态仿真
 
 摘要：机构的运动分析，主要获得机构中某些构件的位移，角速度和角加速度，以及某些点的轨迹，速度和加速度。机构的动力分析，主要是在运动学的基础上，由已知工作阻力，求出运动副的约束反力和驱动力，为选择和设计轴承，零件强度的计算及选择原动机提供原理。
 本文以机构的组成原理为出发点，主要以RRPⅡ组连杆机构为分析对象，用复数向量推导出曲柄，RRPⅡ级杆组的矩阵数学模型，并编制了用于MATLAB/Simulink仿真的函数，这样以MATLAB/Simulink为平面连杆机构运动分析和动力分析的平台，可以搭建RRPⅡ级杆组组成的平面连杆机构的运动学和动力学的仿真模型并进行仿真，并观察参数是如何变化的。
 关键词：运动学 动力学 RRP 仿真 MATLAB/Simulink  
  
 
Dynamic Simulation of RRP Planar Linkage

Abstract:Analyzing the movement of institutions, mainly obtain displacement, velocity and Angle acceleration, and some points trajectory, speed and acceleration in some institutions of displacement。Organization of the dynamic analysis of kinematics, mainly in, on the basis of the known by the work resistance, the motion pair constraint force and driving force for the selection and design of bearings, strength calculation, and select engine provide principle.
This is Based on the principles of the institution as a starting point,with RRP Ⅱ group of linkage mechanism mainly,use the plural vector derivation the Matrix mathematic model of Ⅱ level. RRP pole ,crank.And prepare the Simulation of function of MATLAB/Simulink .So ,MATLAB/Simulink is used for platform of planar linkage mechanism.This can build RRP Ⅱ level rod group composed of planar linkage mechanism of the kinematics and dynamics simulation model and simulation.And observed how is the change of parameters.
 Keyword:kinematics dynamic RRP simulation MATLAB/Simulink 

目录
RRP平面连杆机构的动态仿真 1
1 绪论 1
1.1引言 1
1.2平面连杆机构及杆组概述 2
1.3 进行杆组系统仿真的意义 2
1.4 MATLAB简介 3
2  RRPⅡ级杆组MATLAB运动学仿真模块 6
2.1  用MATLAB实现牛顿-辛普森求解 6
2.2用MATLAB进行速度分析 8
2.3曲柄、RRRⅡ级杆组MATLAB运动学仿真模块 9
2.4四杆机构的MATLAB运动学仿真 11
2.5四杆机构MATLAB运动学仿真结果 13
3 曲柄、RRRⅡ级杆组的MTALAB动力学仿真 15
3.1  曲柄、RRRⅡ级杆组MATLAB动力学仿真模块 16
3.2四杆机构的MATLAB动力学仿真 21
3.3四杆机构MATLAB仿真模型的初值确定 22
3.4四杆机构MATLAB动力学仿真结果 22
4 RRR-RRP六杆机构的MTALAB运动学仿真 25
4.1 RRR-RRP六杆机构 25
4.2RRR-RRP六杆机构MATLAB仿真模块中初值的确定 25
4.3RRR-RRP六杆机构MATLAB仿真模型 28
4.4 RRR-RRP六杆机构MATLAB运动学仿真结果 30
参考文献 37
致谢 38

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