The Study Of Kinematics And Dynamics Compared With Theory And Simulation Based On The Spherical4R Mechanism

The spatial linkage occupies an important position in the study of linkage mechanism, because of following advantages:the simple organization、the component connected with lower pair and the variety of the track can be obtained.The master thesis takes the Spherical4R mechanism which is popular in practice as the initial object, a systematic investigation and development were given to provide basic information and referential methods for the study of the same kind mechanisms. The main body of this thesis consists of three parts:The first part is about the influence of the change of the rotation in the Spherical4R mechanism, the traditional methods to analyze kinematic laws and the freedom analysis method named screw theory are used, the next step is modeling and simulation by SolidWorks and the MOTION contained in it, so the comparison can test the validity of the result of traditional theoretical calculation.The second part is about the dynamic analysis of the space4R mechanism of vertical axis, coordinate-plane-projection (CPP) method was adopted for motion analysis、the fundamental law of mechanics were adopted to set up the force balance relations,energy method was adopted to set up the compatibility equation of distortion, then the comparison of kinematic、static、dynamic and dynamic-static simulated by Adams can test the validity of the result of traditional theoretical calculation, so the characteristic curve can be gained obviously with MATLAB.The third part is about the space5R mechanism transformed from the space4R mechanism, it contains the fundamental properties of motion and the effect of impact factors on motion.In the end of the thesis the conclusions we got were summarized, some shortcomings and proposals were proposed to direct the way for the further study.