【摘要】 本文介绍一种机械系统运动学分析的通用方法。文中根据多刚体系统运动学的原理,建立了受约束机械系统的运动约束方程、速度方程及加速度方程,还详细推导了以铰接副及滑动副连接的两邻接刚体的雅可比矩阵和加速度方程右边项,以求进一步说明本方法。文后还给出了实例。更多还原

【Abstract】 This paper introduced a general method for kinematic analysis of planar mechanical systems.Based on multi-body system kinematics, kinematic constraint equation, velocity and acceleration equations of constrained mechanical systems were established. And Jacobian matrices, right side items of the acceleration equation for revolute joint and translational joint, with which two contiguous bodies are connected, were derived in detail in order to explain the method.Examples were also given at the last of this paper.更多还原