1、 I 摘 要 随着机器向自动化、高速化的不断发展，机器人、机器手的日益兴起，连杆 机构的作用愈加显著，对它的设计与综合方法的研究也更加引起人们的兴趣。传 统的设计综合中多采用图解传或实验法，过程繁琐、设计周期长，可行性差，很 难准确实现设计要求，随着计算机技术以及数值计算方法的迅速发展，解析法得 到越来越广泛的应用。特别是近年来可视化程序开发技术的不断丰富与发展，使 得将连杆机构综合方法与综合过程程序化、 可视化就成为非常迫切而又有意义的 研究问题。 针对于这种情况，本文对平面连杆机构中应用最广的铰链四杆机构，利用数 值计算软件 MATLAB，文中以铰链四杆机构为研究对象，在对其进行运动分析的
2、 基础上，建立数学模型，应用 MATLAB/GUI 工具箱，开发出了平面四杆机构的运 动学分析系统软件。 关键词：四杆机构; 设计方法; MATLAB; 数学模型 II Abstract With the development of machine in the direction of automation and high speed,connecting rod machanism is making more notable impact on the developmeng of therobot day be day.As aresult,more antention will
3、be paid to the research of synthsis and design of connecting rod mechanism.synthsis and design in the thadictional methods,such as graphic method and experimentation.,is difficult to meet design requiment,because its process is too complicated.its design cycle is lengthening,its inclination of value
4、 often self-contracdict.with the rapid development of the computer technology and the numerical computational methods,analytic methods has been applied in lots of ares.Because visualised developmeng technology is development is enriching constantly in the past few years especially.The research on pr
5、ogramed and visualized of the synthesis process and method for connecting rod mechanism becomes a significant and urgent program. In the cireumstane,this thesis aims at flat four-bar mechanism that widely used in connecting rod mechanism,making use of the numerical computational softwale-MATLAB.In t
6、his paper, the four bar linkage Mechanism was studied.On the basis of the kinematic analysis of themechanism, a mathematical model was established and a system for the kinematic analysis of the mechanism wasdeveloped with MATLAB/GUI. Keywords:flat four-bar mechanism; design method ; MATLAB ; mathematics model 1 目目 录录 摘要.I AbstractII 第一章 绪论 1 1.1 平面连杆机构的简介 1 1.2 课题的提出. 1 第二章 铰链四杆机构数学模型的建立 3 2.1 设计问题. 3 2.2 建立机构的位置方程式并求解. 3 第三章 铰链四杆机构 MATLAB 编程. 5 3.1 MATLAB 介绍 5 3.1.1MATLAB 的主要功能. 5 3.1.2 MA
