用角变量逼近法对高级机构进行运动分析

提出的"角变量逼近法",建立了一种模块化求解高级机构的数学模型,即通过用Ⅱ级杆组逼近高级杆组进而实现求解高级机构的数学模型.该方法不需要使用者在可装配区域内给定虚拟已知变量的初值,便可按收敛方向自动搜索逼近其真实值,不会产生不收敛的情况.对虚拟自变量初值几乎无限定和对搜索方向和步长的自动调整功能,是本文提出的"角变量逼近法"的最重要特点.应用"角变量逼近法"开发的程序运行结果,证明了该方法是可行的.

A Modularized Method for Determining Kinematic Analysis of Complex Mechanisms

A modularized method for determining kinematic and kineto static analysis problems of complex mechanisms, which was based on the turning variables of same link of the mechanisms keep unchangeable when it is divided into second class Assur groups, has been developed by using second class Assur groups to determine higher class Assur groups in iterative methods .The examples show the initial value of proposed variable (in position analysis) only needs to be chosen in the assembly area of mechanism (initial value in velocity and acceleration analysis is arbitrary),the direction and step of searching were self adjusted in the program.The results prove this method is very correct and efficient,the program can be sued for practice.