论文部分内容阅读
工业操作常常需要作各种平面曲线运动,不仅对轨迹形状有要求,而且对其运动特性(速度、加速度)也有要求。文中研究一种简易实用的两驱动滑块在同一导轨上运动的2自由度平面五杆机构,推导了该机构运动学正反解计算公式,基于其运动学反解仿真分析了该机构末端操作点行走轨迹满足各类直线、圆轨迹及封闭组合曲线时,两滑块驱动运动规律及特性,为这种简易2自由度操作手的实时控制及工业应用奠定了基础。
Industrial operations often need to make a variety of planar curvilinear movements, not only on the trajectory shape requirements, but also on its kinematic characteristics (speed, acceleration) are also required. In this paper, a simple and practical 2-DOF planar five-bar mechanism with two driving sliders moving on the same track is studied. The kinematic inverse solution of the mechanism is deduced. Based on its kinematic inverse solution, Point trajectory to meet all kinds of straight lines, circular trajectory and the closed combination curve, the two-block drive movement and characteristics of the simple 2-DOF manipulator for real-time control and industrial applications laid the foundation.