摩擦圆盘运动分解合成机构的理论设计及其运动学分析

提出了一种摩擦圆盘运动分解合成机构,理论分析表明这种运动分解合成机构具有非完整约束性,通过建立其运动学微分方程,对这种机构的运动变化和传递关系进行了计算机仿真分析,表明该运动传递机构具有可控性,这为该运动分解合成机构的应用奠定了基础。

A locomotion decomposing and composing machine of friction disc is brought forward. The analysis of theory indicate that the locomotion decomposing and composing machine have nonholonomic restriction. By building its kinematics, we carry out the computer simulation analysis which is based on locomotion and transfer of the machine. Results show that it is controllable.

中国科学院沈阳自动化研究所机器人学研究室基金项目(RL200201)