What we have leart in chapter 1.PPT

What we have leart in chapter 1? The composition of mechanism(机构的组成) Kinematic diagram of mechanism (机构的运动简图) Kinematic chain(运动链) The conditions for a mechanism has a determined motion (机构具有确定运动的条件) The composition principle of mechanism (机构的组成原理) Structure analysis(机构的结构分析 ) The Theory of Machines and Mechanisms Chapter 2. Kinematic Analysis Sun Zhihong Zhsun@dhu.edu.cnMain Topics of Today The tasks and methods of kinematic analysis 运动分析的目的和任务 Kinematic analysis by the method of instant centers 瞬心法进行机构运动分析 1.The tasks and methods of kinematic analysis Purpose: 为研究机械运动性能和动力性能提供必要的依据。 通过位移和轨迹分析，可考察构件或构件上某点能否实现预定的位置或轨迹要求；确定从动件的运动空间；判断运动中是否产生干涉；确定机器的外壳尺寸。 速度分析是加速度分析及确定机器动能和功率的基础，通过速度分析，可了解从动件速度变化能否满足工作要求。 通过加速度分析，确定构件的惯性力，便于研究机械的强度、振动和动力性能。 Tasks：根据输入构件的参数和所有构件的几何尺寸确定： Find angular position, angular velocity and angular acceleration of driven links (确定从动件的角位移、角速度和角加速度) Find positions, linear velocity and linear accelerations of points on driven links (确定从动件的位移、速度、加速度) Methods: Instant centers method(速度瞬心法) Vector equation and graphic method（矢量方程图解法） Analytical method（解析法） Instant center(瞬心) When two links have relatively planar motion, at any instant there exists a pair of coincident points, e.g. P1 and P2, the absolute velocity of which(in both magnitude and direction) are same. Absolute Velocity Center(绝对瞬心) and Relative Instant Centers(相对瞬心) If one link is fixed, the instant center is called absolute instant center, otherwise, a relative instant center. Decision of instant centers location 1.Revolute pair 3.Pure rolling pair(a special case of higher pair) Point of contact A is the instant center. 5.Theorem of Three centers(三心定理) Any three links having planar motion have three instant centers and the three instant centers must lie on a line. Example 1: Application of three instant center theorem on kinematic analysis 思考题１： 图示齿轮机构，设已知齿轮1的等角速度ω1和机构尺寸，试求： 1. 机构的所有瞬心 2. 齿轮3的角速度ω3 思考题２: 图示四杆机构，设已知杆1的等角速度ω1和机构尺寸，试求： 1. 构件1、3的相对瞬 心 2. 构件3的角速度ω3 3.