RRR平面連桿機構的動態仿真

論文編號:JX1558  論文字數:12171.頁數:43 附任務書，開題報告，外文翻譯,程序

論文摘要
 RRR平面連桿機構的動態仿真
 
摘要：平面連桿機構的動態仿真分為機構的運動分析和動力分析兩種。機構的運動分析，主要獲得機構中某些構件的位移、角速度和角加速度，以及某些點的軌跡、速度和加速度，它是機械設計及評價機械運動和動力性能的基礎，也是分析現有機械優化綜合新機械的基本手段；機構的動力分析，主要是在運動學分析的基礎上，由已知工作阻力，求出運動副的約束反力和驅動力（或力矩），為選擇和設計軸承、零部件強度的計算及選擇原動機提供理論依據。
 本文用矢量和矩陣理論建立了適用于MATLAB／SIMULINK仿真的曲柄、RRRⅡ級桿組運動學和動力學數學模型，以該數學模型編制了M函數仿真模塊，對給定的RRR四桿機構和RRR-RRR六桿機構進行了建模和仿真，通過仿真得到各轉動副的反力及驅動力矩．其主要目的是以構成機構的基本桿組為仿真模塊，搭建桿組MATLAB／SIMULINK仿真模型，可以對不同類型平面連桿機構進行運動學和動力學仿真和分析。
 
關鍵詞：連桿機構 運動學 動力學 MATLAB/SIMULINK 仿真

Dynamic Simulation of RRR Planar Linkage

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, eva luation 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    錄
1 緒論
1.1選題的依據及意義 1
1.2國內外研究概況及發展趨勢 1
1.3研究內容及實驗方案 4
2 曲柄、RRRⅡ級桿組的MTALAB運動學仿真
2.1用MATLAB實現牛頓-辛普森求解 5
2.2用MATLAB進行速度分析 6
2.3曲柄、RRRⅡ級桿組MATLAB運動學仿真模塊 7
2.4四桿機構的MATLAB運動學仿真 10
2.5四桿機構MATLAB運動學仿真結果 12
3 曲柄、RRRⅡ級桿組的MTALAB動力學仿真
3.1曲柄、RRRⅡ級桿組MATLAB動力學仿真模塊 15
3.2四桿機構的MATLAB動力學仿真 19
3.3四桿機構MATLAB仿真模型的初值確定 21
3.4四桿機構MATLAB動力學仿真結果 21
4 RRR-RRR六桿機構的MTALAB運動學仿真
4.1 RRR-RRR六桿機構 24
4.2 RRR-RRR六桿機構MATLAB仿真模型 24
4.3 RRR-RRR六桿機構MATLAB真模塊 26
4.4 RRR-RRR六桿機構MATLAB仿真模塊中初值的確定 27
4.5 RRR-RRR六桿機構MATLAB運動學仿真結果 29
5 RRR-RRR六桿機構的MTALAB動力學仿真
5.1 RRR-RRR六桿機構 33
5.2 RRR-RRR六桿機構MATLAB仿真模型 33
5.3 RRR-RRR六桿機構MATLAB仿真模塊 35
5.4 RRR-RRR六桿機構MATLAB仿真模塊中初值的確定 38
 5.5 RRR-RRR六桿機構MATLAB運動學仿真結果 38
總    結 41
參考文獻 42
致    謝 43