LECTURE3-3.pptVIP

3.3. Kinematic Analysis by Analytical(解析的)  Methods Advantages of group method:  Assur groups have kinematic determination. One can set up subroutines(子程序) in advance(预先) for some commonly used Assur groups. Then the kinematic analysis of a multi-bar(多杆) linkage mechanism is reduced(简化) into two simple steps: 3.3.1 The LINK Subroutine XB, YB, (VB)X, (VB)Y, (aB)X, (aB)Y are to be calculated. In a Cartesian co-ordinate system(直角坐标系),XB=XA+L* cos(?), YB=YA+L* sin(?) Differentiating again, (aB)X=(aA)X-L*sin(?)*?-L*cos(?)* ?2 (aB)Y=(aA)Y+L*cos(?)*?-L*sin(?)* ?2 In TRUE BASIC，formula(公式) XB=XA+L * cos(?) corresponds to: XB=XA+L*COS (Q) SUB LINK(XA, YA, VAX, VAY, AAX, AAY, Q, W,  E, LAB, XB, YB, VBX, VBY, ABX, ABY) XB=XA+L*COS(Q) YB=YA+L*SIN(Q) VBX=VAX-L*SIN(Q)*W VBY=VAY+L*COS(Q)*W ABX=AAX-L*SIN(Q)*E-L*COS(Q)*W^2  ABY=AAY+L*COS(Q)*E-L*SIN(Q)*W^2END SUB Any subroutine must begin with statement SUB subroutine-name(table of parameters) and end with statement END SUB. In order to facilitate(使便利) the understanding of the program, parameters should have easily-recognized(认识) names. Before the subroutine is called, （XA, YA, VAX, VAY, AAX, AAY, Q, W, E, L）are known. After the subroutine is called, (XB, YB, VBX, VBY, ABX, ABY）will be known. 3.3.2 The RRR Subroutine ?CB , ?CB , ?CB are to be calculated. When XA, YA, XC, YC, LAB and LCB are determined, there are two assembly modes(模式) for this group, as in red and black color. On the link CB, XB=XC+LCB*cos(?CB) YB=YC+LCB*sin(?CB) Note: ?AB is 180o different from ?BA. Combining these two sets of equations, one obtains： Although some mathematical skill can be used to obtain two sets of formulae for ?AB and ?CB, it is hard to judge(判断) which set of formulae corresponds to a specific assembly mode(模式). Idea for solution : Idea for solution : Idea for solution : (3) ?AB=?AC- ?BAC. I