| 向量微回转代数及其在机构运动分析中的应用 |
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| 引用本文： | 毛明,张相麟.向量微回转代数及其在机构运动分析中的应用[J].北京理工大学学报,1989,9(1):74-83. |
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| 作者姓名： | 毛明 张相麟 |
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| 作者单位： | 北京理工大学车辆工程系
(毛明，张相麟)，北京理工大学车辆工程系(程瑞廷) |
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| 摘 要： | 基于向量回转代数,推导出了向量连续回转的导数与微分的递推计算关系,并阐明了向量微小回转的一些重要性质,从而建立了向量的微回转代数。向量的微回转代数是机构运动分析的有限微回转法的数学基础,作为向量微回转代数的应用、本文对一空间一般7R,7杆机构进行了运动分析。
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| 关 键 词： | 向量回转 有限微回转法 机构运动 |
THE ALGEBRA OF INFINITESIMAL ORTATION AND ITS APPLICATIONS TO THE KINEMATIC ANALYSIS OF MECHANISMS |
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| Mao Ming Zhang Xianglin Cheg Ruiting.THE ALGEBRA OF INFINITESIMAL ORTATION AND ITS APPLICATIONS TO THE KINEMATIC ANALYSIS OF MECHANISMS[J].Journal of Beijing Institute of Technology(Natural Science Edition),1989,9(1):74-83. |
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| Authors: | Mao Ming Zhang Xianglin Cheg Ruiting |
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| Institution: | Department of Vehicular Engineering |
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| Abstract: | Based on the algebra of rotation, this paper derives the relations between the derivatives of successive rot at ions, bringing to a number of important properties of infinitesimal rotation. The algebra of infinitesimal rotation is the mathematical background of the micro-rotation method,a method for the kinematic analysis of mechanisms. As a concrete example of application cf tbs algebra, the paper also discusses ths kinematic analysis of a general spatial 7R, 7-link mechanism. |
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| Keywords: | vector rotation micro-rotation method vector infinitesimal rotation algebra kinematic analysis of mechanism |
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