本科生毕业设计

基于MATLAB的双摇杆机构运动分析与仿真 Based on the MATLAB double rocker organization

movement analysis and simulation

基于MATLAB/SIMULINK的双摇杆机构运动学分析与仿

真

邹凯旋

云南农业大学工程技术学院，昆明 黑龙潭 650201

摘 要

平面连杆机构的应用十分广泛，它的分析及设计一直是机构学研究的一个重要课题。MATLAB的Simulink是一个对动态系统建模和仿真分析的软件包，为信号与系统仿真实验提供了很好的平台。借助其强大的模拟仿真分析功能可以方便的实现机构性能分析和动态仿真，降低分析的难度，有效提高设计工作效率、产品开发质量、降低开发成本。本设计课题以MATLAB的simulink\\simMechanics动态模拟仿真工具为平台，对双摇杆机构进行运动分析。结果表明该仿真方法能方便、准确的得到机构的运动、动力数据，能为机构的选择、优化设计提供参考依据。应用此工具可很好地对机械系统的各种运动进行分析，构造出平面连杆机构的数学模型。通过对此数学模型分析，分离出可独立求解的机构模型，并用相应的机构分析方法对它进行求解，建立了平面连杆机构运动学分析专家系统。系统可完成部分平面连杆机构的运动学分析及动画仿真，从而为机械系统的建模仿真提供一个强大而方便的工具。

关键词：连杆机构；动态仿真；SimMechanics；数学模型

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Based on the MATLAB double rocker organization

movement analysis and simulation

Zou kaixuan

Faculty of Engineering and Technology Yunan Agricultural University，Heilongtan

Kunming 650201

ABSTRACT

Planar linkage mechanism used widely, its analysis and design of the study of institutions has been an important subject. MATLAB Simulink is a dynamic system modeling and simulation software package, for signal and system simulation results provide a good platform. With its powerful simulation analysis function is realized the performance analysis and the dynamic simulation institutions, reduce the difficulties of analysis, effectively improve the design work efficiency and product development quality, reduce development costs. This design task to MATLAB simulink \\ simMechanics dynamic simulation tools as the platform, on the double rocker organization motion analysis. The results show that the simulation method can conveniently, accurately to get the kinematic and dynamic data organization, for the choice of institutions, optimum design to provide the reference. This tool can application is mechanical system analysis of all kinds of sports, constructed the mathematical model of the planar linkage mechanism. Through mathematical model to analysis, separating out can be independent of solving mechanism model, and the corresponding institutions analysis method to solve it, a planar linkage mechanism kinematic analysis of the expert system. System can finish part of planar linkage mechanism kinematic analysis and animated simulation, thus for mechanical system modeling simulation provide a strong and convenient tool.

Key words: linkage；Dynamic Simulation；SimMechanics；mathematical model

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目 录

摘要…………………………………………………………………………………Ⅰ

ABSTRACT………………………………………………………………………Ⅱ

目录…………………………………………………………………………………Ⅳ 图目录………………………………………………………………………………Ⅴ 公式目录……………………………………………………………………………Ⅴ 前言…………………………………………………………………………………1 一、概述……………………………………………………………………………1 1. 双摇杆机构的相关知识……………………………………………………….1 2. 双摇杆机构的运动学分析传统方法………………………………………….1 3. 用软件进行机构运动学分析的现状和趋势………………………………….2 4. 使用MATLAB/SIMULINK的优势…………………………………………..2 5. MATLAB/SIMLINK的特点…………………………………………………3 二、设计任务分析………………………………………………………………....3 1. 设计内容和任务…………………………………………………………...…..3 2. 实现技术路线……………………………………………………………….....4 3. 关键问题和难点分析……………………………………………………...…..5 三、程序设计与实现………………………………………………………...….…5 1. 系统组成…………………………………………………………………....….6 2. 程序设计与实现……………………………………………………………….6 3. 基于运动学的模型建立……………………………………………………….7 4. 参数化设计…………………………………………………………………….9 5. 仿真结果……………………………………………………………………….14 四、设计结果分析…………………………………………………………………15

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