Kinematics and Dynamics Analysis and Simulation of Spherical 4R Mechanism

Proceedings of the 6th International Conference on Intelligent Information Processing Pub Date : 2021-07-29 DOI:10.1145/3480571.3480602

Kaihong Zhou, Zhe Yin, Xueqian Zhang

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Abstract

∗According to the characteristic that the spherical 4R mechanism satisfies the periodic reciprocating motion, a kind of training equipment based on the spherical 4R mechanism is designed, and its kinematics analysis model is established. Based on the numerical calculation of the kinematic model based on MATLAB, the motion curve of each member is obtained, on the basis of which the influence of the change of structural parameters on the kinematic characteristics of each member is analyzed. The dynamic simulation is carried out by using ADAMS software, and the simulation results are compared with the theoretical analysis results, and the results are highly consistent, which proves the correctness of the theoretical analysis. In order to facilitate the strength check and the selection of bearings, the force of each motion pair is analyzed in ADAMS, and the constraint reaction curve of the motion pair is obtained. These contents are of great significance for the further study of the dynamic performance and optimization design of the trainer.

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球形4R机构的运动学与动力学分析与仿真

*根据球形4R机构满足周期往复运动的特点，设计了一种基于球形4R机构的训练装置，并建立了其运动学分析模型。基于MATLAB对运动模型进行数值计算，得到各构件的运动曲线，在此基础上分析了结构参数变化对各构件运动特性的影响。利用ADAMS软件进行了动态仿真，并将仿真结果与理论分析结果进行了比较，结果高度一致，证明了理论分析的正确性。为了便于强度校核和轴承选择，在ADAMS中对各运动副的受力进行了分析，得到了运动副的约束反力曲线。这些内容对进一步研究训练器的动态性能和优化设计具有重要意义。

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Proceedings of the 6th International Conference on Intelligent Information Processing

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