SIMPACK软件基础及应用(第五章节_A_Slider_Crank_Mechanism_).ppt

第五章 A Slider Crank Mechanism Step 1: Modify the Model Step 2 Defining a Constraint Step 3 Assemble System Step 3-1 Assemble System Step 3-2 Assemble System Step 4 Off Line Integration Step 5 static equilibrium Step 6 eigenvalues Step 7 On-line Kinematics Step 7-1Defining the Slider Bar Step 7-2 Interactive Kinematics Step 8 Inverse Kinematics Step 8-1 Change $J_Body1 to a constant angular velocity joint Step 8-2Configuration of the Inverse Kinematics Solver Step 8-3 Performing Inverse Kinematics Step 8-4 Results General Plots Off Line Integration * * SIMPACK软件基础及应用 develop the double pendulum force model into a slider crank mechanism restrict the motion of the marker at the end of the second body move only in the y direction Constraint Interactive Kinematics Inverse Kinematics 重点学习 SIMPACK软件基础及应用 copy the double_pendulum_force model. Name this copied model slider_crank Modify Joint $J_Body1 state=-0.2 and velocity=0.2 Modify Joint $J_Body2 state=0.4 and velocity=0.0 SIMPACK软件基础及应用 SIMPACK软件基础及应用 注意：在闭环系统中，由于运动学树状结构，存在绞的状态变量多于所要求定义的系统的位置的情形。对于一个系统，要求独立变量的数量必须相同以作为闭环的条件，这时 SIMPACK的默认设置是绞是依赖变量。 SIMPACK软件基础及应用 SIMPACK软件基础及应用 SIMPACK软件基础及应用 SIMPACK软件基础及应用 SIMPACK软件基础及应用 SIMPACK软件基础及应用 Copy the model to slider_crank_online_kinematics and open this model in the pre-processor  Ensure that joint $J_Body1 is as follows: State =-0.2 and velocity=0.2  Save the model SIMPACK软件基础及应用 注意：逆运动学是计算当一个模型沿着一个预定的运动运动时力和加速度的现象，此时一个不变的速度将被用来描述绞的运动，本节改变BODY1的绞以作为不变速度的绞。 首先：Copy the slider_crank model to slider_crank_inv_kin  *