Take a 6 - rss mechanism for instance , the stiffness matrix of the general flexure hinge was established by using the displacement matrix method in structural analysis 由于空間全柔性機(jī)構(gòu)中存在球副,使得目前通用的偽剛體模型法受到限制,為此提出了一種擴(kuò)展偽剛體模型法。
Firstly , this text made the kinematic analysis of the spherical gear mechanism and the flexible manipulator based on the spherical gear mechanism by the method of space displacement matrix , and obtain the kinematics rule - kinematics equation 本文首先運(yùn)用空間位移矩陣法對球齒輪機(jī)構(gòu)和基于球齒輪機(jī)構(gòu)的機(jī)械手進(jìn)行運(yùn)動分析,得出運(yùn)動學(xué)規(guī)律,即運(yùn)動學(xué)方程。
When analyzing skew support continuous curved box girder bridge , curved grid girder analyzing method considering warping effect is applied . matrix displacement method is applied in analyzing skew support continuous curved thin - walled box girder bridge with restrained bearing . in order to convert original rigidity equations to structural rigidi ty equations that can be solved , bearing nodal displacement matrix can be introduced , then unknown quantities at the edge of beams can be consistent with the restrained directions of skew bearings , unit rigidity matrix and unit nodal forces can be gained . structural rigidity matrix can be composed according to matrix displacement method , so nodal displacements and inner forces on the end of the rod that are unknown can be gained calculating equations of inner forces on any cross - section can be solved 分析斜支承連續(xù)曲線箱梁橋時,采用考慮翹曲作用的曲線格子梁分析方法,應(yīng)用矩陣位移法對具有約束支承形式的斜支承連續(xù)曲線薄壁箱梁橋進(jìn)行分析,考慮到支座的約束條件并不與梁端彎曲角位移和扭轉(zhuǎn)角位移的方向一致,引入支座節(jié)點(diǎn)坐標(biāo)矩陣,使得梁端的位移未知量與斜支座約束方向一致,來計(jì)算單元剛度矩陣和單元節(jié)點(diǎn)力,然后按照矩陣位移法組集總剛并建立結(jié)構(gòu)剛度方程,根據(jù)結(jié)構(gòu)剛度方程即可求解未知的節(jié)點(diǎn)位移及桿端力,推導(dǎo)出任意截面處的內(nèi)力計(jì)算公式。
The kinematic synthesis equations for rrr and rpr groups have been established , respectively , based on the single - opened - chain ( soc ) theory and displacement matrix method . combining two kinematic synthesis equations for rrr groups , this paper presents the unified kinematic synthesis equations for hinged 3 - bar groups which are applied in function synthesis of planar watt , stephenson , and 6 - bar linkages 基于單開鏈理論,應(yīng)用位移矩陣法,分別建立了rrr和rpr兩種級桿組的運(yùn)動綜合方程,再將兩個rrr級桿組的綜合方程聯(lián)立,得到watt型及stephenson ,型六桿函數(shù)發(fā)生機(jī)構(gòu)中鉸鏈三桿組的統(tǒng)一運(yùn)動綜合方程組。