2．研究任务.ppt

Kinematics 一、运动学的研究对象及任务 1．研究对象 Point(particle), Rigid body and System of Rigid Bodies. Point: 不计大小的几何点. 2．研究任务 (1)研究物体的机械运动及运动 的几何性质。 (2)研究机构传动规律。 例1 观察轮缘上M点的运动轨迹 例2 观察陀螺的运动特点 例3 观察机构传动关系及点运动轨迹 二、学习运动学的目的 Chapter 7 Kinematics of Rigid Bodies: Simple motions Defination: Translation and rotation about a fixed axis of rigid bodies are called the simple motions of rigid bodies. 特点：刚体的简单运动是刚体运动的最简单形式,是不可分解的运动基本形态。刚体的复杂运动均可分解成若干简单运动的合成。 A rigid body is said to be translating if all lines in the body remain parallel to their original positions.Since the shapes of paths for every particle in a translating rigid body are same, the velocities and accelerations of all points of the body are equal. The kinematics of translation reduces to the kinematics of a single point. 关键是平动的判定. 7-1 Rotation about a fixed axis 1. Definition Rotation about a fixed axis is a special case where one line in the body, called the axis of rotation, is fixed in space. 2. Characteristics Since the body is rigid, the path of each point (except points on the axis of rotation) is a circle, which lies in a plane perpendicular to the axis of rotation, with its center on the axis of rotation. 4. Angular velocity and acceleration Taking the time derivative of Eq. (7.3b) while noting that dk/dt=0 yields ?=? k =(d?/dt) k (7.4) where ? is the angular velocity of the body with magnitude ?. Differentiating Eq. (7.4) with respect to time we have ? = ? k = =(d?/dt) k (7.5) where ? is the angular acceleration of the body with magnitude ?. It should be noted that ?, ? and ? are angular, i.e. integral, position, velocity and acceleration vectors of the body. In engineering, number of revolution per minute n (rev/min) is usually used as unit of angular velocity. It has the relation with ? (rad/s) as following Two important special cases