By Lihui Jin, Yutian Wang, Guorui Wang (auth.), David Jin, Sally Lin (eds.)
This ebook contains the quantity 1 of the lawsuits of the 2012 foreign convention on Mechanical and digital Engineering(ICMEE2012), held at June 23-24,2012 in Hefei, China. The convention supplied an extraordinary chance to compile around the world researchers who're operating within the fields. This quantity 1 is targeting Mechanical Engineering and Automation in addition to car Engineering and expertise.
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Jin and S. ): Advances in Mechanical and Electronic Engineering, LNEE 176, pp. 21–26. com 22 Z. Zhao and S. Sun cause the movement of connecting rod. Use the link between homogeneous transformation matrixes (Ai) established the robot's kinematics equations (T). J6 J4 X4 Z6 X5 X6 Y6 J5 Y4 Z5 Y5 Z4 O 4 , O5 , O 6 X3 a3 Y3 O3 Z3 d4 X2 J3 a2 Y2 O2 J1 Z2 Z 0 , Z1 Y0 J2 X 0 X1 a1 O 0 , O1 Y1 Fig. 1. 6-DOF of robot's connecting rod coordinate system T = A1 A2 A3 A4 A5 A6 (1) Ai = Trans(ai −1 ,0,0) Rot ( X i −1 , α i −1 )Trans(0,0, d i ) Rot ( Z i , θ i ) cθ i sθ cα = i i −1 sθ i sα i −1 0 − sθ i 0 cθ i cα i −1 cθ i sα i −1 − sα i −1 cα i −1 0 0 ai −1 − d i sα i −1 d i cα i −1 1 (2) In equation (2) : c representative cos functions; s representative sin function.
4π 3 − ∠AOG 4 π 3 + ∠ AOG 2 π − ∠ AOG i i i i i i Parameter Equations of Central Trajectories. Because helical structure was parallel laid and moved at a constant speed on z-axis during twisted, parameter equation of the structure along z-axis could be expressed as z= tθ 2π , (3) where θ is the rotation angle of component in the xoy plane. In the Fig. 2 , line AiFi’s parameter equation could be deduced as xi =OK i cosθ =d i ( 2k π ≤ θ < ∠AOG i i + 2 k π, ∠FOG i i + 2k π ≤ θ ≤ 2π + 2k π ) . y = OK sin θ = d tan θ 2 k π ≤ θ < ∠ AOG + 2 k π, ∠ FOG ( i i i i i i + 2k π ≤ θ ≤ 2π + 2 k π ) i (4) In the triangle △AiOKi and △AiA0Ki, based on sine theorem, the angle ∠Ki A0 Ai could be derived as ∠K i A0 Ai = θ − arcsin [l0 sin(π 3 − θ ) ri ] .
2, initial angles of ∠BiOGi , ∠CiOGi , ∠Di OGi , ∠EiOGi and ∠FOG i i , 2π 3 + ∠AOG , could be respectively expressed as 2π 3 − ∠AOG i i i i , and . 4π 3 − ∠AOG 4 π 3 + ∠ AOG 2 π − ∠ AOG i i i i i i Parameter Equations of Central Trajectories. Because helical structure was parallel laid and moved at a constant speed on z-axis during twisted, parameter equation of the structure along z-axis could be expressed as z= tθ 2π , (3) where θ is the rotation angle of component in the xoy plane. In the Fig.