Automaticly Solving Mechanisms’ Kinematics Based On CAD Variation Gometry

The kinematics is always the fundamental objiect for mechanism research.However,it is often difficult to use traditional analytical methods.When transforming to applications,numerical methods are more popular.This is especially true for complex mechanisms,and the multi-coupled parallel mechanisms most.And the CAD variation geometry method can solve the results intuitively and quickly,but its original operation method is not conducive to the usage for researchers,isn’t conducive to transform to computer programs,and isn’t conducive to further development.Based on the CAD variation geometry,combined with the secondary development technology of the CAD software by Visual Basic,for solving various mechanisms’ kinematics,the corresponding software has been developed,which specifically includes the following aspects:Firstly,the basic principle and realization technology for solving mechanism operation problems by CAD variation geometry are explained,the advantages and disadvantages of its original method are pointed out,and the basis and significance of programmatic development and innovation are proposed.Secondly,in an object-oriented programming method,this paper deeply studied the constituent elements of the plane mechanism and the corresponding geometric parameters,formulated the construction flow logic of the plane mechanism and compiled the user interface,and solved the plane in the CAD variation geometry with the idea of modularization.The key technology of mechanisms’ kinematics is separately constructed as a module file,which is used in conjunction with CAD software,and certain innovations have been made in the module to solve the angular velocity and angular acceleration.In the interface,the user makes the simulation mechanism modeling of the planar mechanism automatically proceed through parameterization.Thirdly,this article has deeply studied the constituent elements and corresponding geometric parameters of the spatial parallel mechanism,formulated the construction flow logic of the spatial parallel mechanism and compiled the user interface,and made the key technology to solve the kinematics of the spatial mechanism from the CAD variation geometry to a module file with the modular idea,which used with CAD software,and certain innovations have been made in the module to solve the angular velocity and angular acceleration,making the content of the file more concise.In the interface,the user makes the simulation mechanism modeling of the space mechanism automatically proceed through parameterization.And last,the movement of the mechanism under actuation is simulated in a programmed way,and the driving parameter configuration interface is written.Combined the driving equation in the module file,the program can automatically solving the kinematic parameters of the mechanism at different positions and different drving speeds,which including position,velocity,acceleration,angular velocity and angular acceleration.