设计简介
摘要：用复数推导了曲柄、6RⅢ级杆组的运动学和动力学数学模型，并将其转化为适用于MATLAB仿真的矩阵数学模型，以该矩阵数学模型编制了相应的M函数仿真模块，对给定的7R六杆Ⅲ级机构为例说明如何使用这二个仿真模块建立MAllAB仿真模型，并对其仿真结果的正确性加以分析．其主要目的是以组成机构的杆组为仿真模块，搭建各种平面连杆机构MATLAB仿真模型，可以对各种低副机构进行动力学仿真和分析．
关键词：运动学 动力学 机构 仿真 杆组
Abstract：The complex formula of displacement,velocity and acceleration of crank and 6R Ⅲ degree basic bar group is derived by complex.And so it is the dynamic complex formula of the same mechanism.The complex formula is changed to matrix fomlula for MATIAB simulation．According to the matrix formula，M—function of crank and 6RⅢdegree basic bar group is made up for simulation model block．MATLAB simulation modeI of 7R six barⅢdegree mechanism is given．Main idea of the paper is to build MATLAB simulation model of aU kinds lower pair mechanism by cell of basic bar groups．
Key words：kinematics；mechanism；simulation；bar group
关键词：运动学 动力学 机构 仿真 杆组
Abstract：The complex formula of displacement,velocity and acceleration of crank and 6R Ⅲ degree basic bar group is derived by complex.And so it is the dynamic complex formula of the same mechanism.The complex formula is changed to matrix fomlula for MATIAB simulation．According to the matrix formula，M—function of crank and 6RⅢdegree basic bar group is made up for simulation model block．MATLAB simulation modeI of 7R six barⅢdegree mechanism is given．Main idea of the paper is to build MATLAB simulation model of aU kinds lower pair mechanism by cell of basic bar groups．
Key words：kinematics；mechanism；simulation；bar group
