一般空间7R机构的运动分析

本文对一般空间7R机构进行位移、速度和加速度分析.在文[2]所述方法的基础上,导出输入输出16次代数方程,推导和计算比较简便.文中利用人工智能语言确定位移方程的系数,大大减轻人工劳动量.此外,在位移分析的基础上进行速度和加速度分析.文末以数字实例验证了计算结果.本文和文[5]的结果,为进一步应用人工智能语言,建立空间机构运动分析专家系统打下了基础.     

KINEMATIC ANALYSIS OF THE GENERAL SPATIAL 7R MECHANISM

The displacement,velocity and acceleration analysis of the general spatial7Rmechanism is discussed in this paper.Based on the method proposed in Ref[2].an input-output algebra equation of the16th degree in the tan-half-angle of the output angulardisplacement is derived.The derivation process and computation are considerably simple.Aprogram written in Al language is used to derive the coefficients of displacement equations:therefore the amount of manual work is greatly decreased.The results are verified by anumerical example.The researches of this paper and Ref[5]found a base for establishingan expert system of spatial mechanism analysis in the future.     

Kinematic analysis of the general spatial 7R mechanism

The displacement. velocity and acceleration analysis of the general spatial 7R mechanism is discussed in this paper. Based on the method proposed in Ref. [2], an input-output algebra equation of the 16th degree in the tan-half-angle of the output angular displacement is derived. The derivation process and computation are considerably simple. A program written in AI language is used to derive the coefficients of displacement equations: therefore the amount of manual work is greatly decreased. The results are verified by a numerical example. The researches of this paper and Ref.[5] found a base for establishing an expert system of spatial mechanism analysis in the future.