任意角度的RRP杆组的运动分析

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运用转换坐标系的方法对任意角度的RRP杆组的运动进行分析,用解析法推导出RRP杆组的位置解的个数及机构的运动趋势的判别,并且给出任意角度曲柄滑块机构的曲柄存在条件。最后用MATLAB软件编写出RRP杆组在实际运用中的运动分析程序,分析杆组的位置、速度、加速度。 In this paper,the motion analysis of arbitrary angle RRP Linkage Group is carried out based on the conversion coordinate method.The analytical method is used to derive the number of solution of the RRP linkage group and to identify the location of the motion trend.The conditions for having a crank of the arbitrary angle slider-crank mechanism are also proposed.Finally,an application program has been developed with MATLAB to analyze RRP linkage group＇s position,velocity and acceleration.