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一、概述由于各种机械向高速和精密方向发展,动态性能便成为愈来愈重要的问题了。各种机器人,机械手,在其动力性能申,摩擦的影响又尤为重要。本文应用矢量法和矩阵分析法来计算机械中的摩擦力和摩擦力矩。该方法具有通用性,特别是在复杂的空间机构中,其优越性就更加突出。二、分析和计算机构中的摩擦力和摩擦力矩现以转动导杆机构为例来说明本文的方法。图1为一转动导杆机构,机构数分别为①、②、③、④,铰接点分别为1、3、4。
First, an overview As a variety of machinery to high-speed and precision direction, the dynamic performance has become more and more important issue. Various robots, manipulators, in its dynamic performance, friction and the impact is particularly important. In this paper, vector and matrix analysis method to calculate the friction and friction torque in machinery. The method has the versatility, especially in complex space agencies, its superiority is even more prominent. Second, analyze and calculate the friction and friction moment in the mechanism Now turn the guide rod mechanism as an example to illustrate the method of this article. Figure 1 is a rotating guide mechanism, the number of institutions were ①, ②, ③, ④, hinge points were 1,3,4.