【摘要】 给出了一种在空间机械系统位移分析中利用适当选取的两个相交的单位矢量建立所需要的动坐标系和确定此动坐标系与惯性参考系之间的变换矩阵的简单方法。分别以空间ｎＲ机械手和空间ＲＳＣＲ机构的位移分析作为例子说明本文方法的应用。更多还原

【Abstract】 This paper presented a simple method of establishing direction cosine transformation matrices for the displacement analysis of spatial mechanical, system. A dynamic coordinate frame was developed by means of selecting two suitable intersecting unite vectores. A general formulation of transformation matrices indicating transformation from dynamic frame to inertial frame was obtained. The application of this method to the displacement analysis of spatial n-R manipulator and RSCR machanism was given as illustrative examples.更多还原