绞刀运动姿态的欧拉角表示
|
摘要
传统的绞刀运动往往被简化为横移加旋转的二维运动方式,这种运动简化方法难以准确地定义绞刀的位置和姿态。以刚体运动学为出发点,严格推导了绞刀运动的欧拉表示方法,以全新的视角描述了绞刀的运动。对绕任意轴转动的欧拉旋转进行了公式推导,能够简单而准确地描述绞刀的位置和姿态变化。使用绞刀横移偏转角度、下放角度和旋转角度定义绞刀的位置和姿态,并给出了绞刀和刀齿位置姿态的表达形式。
The traditional sports of cutter is often simplified as two-dimensional motion with transverse and rotation,this simplified method can not accurately define the movement and posture of cutter.As the starting point of the rigid body kinematics,we rigorously derived the Euler expression of cutter movement,and described the movement of the cutter from a new perspective.We deduced the Euler rotation to any axis,and can describe the position and attitude of the cutter simply and effectively.Uses the sliding angle,downward angle and revolving angle can define cutter position and attitude,and gives the expression of the position and attitude of cutter and tooth.
The traditional sports of cutter is often simplified as two-dimensional motion with transverse and rotation,this simplified method can not accurately define the movement and posture of cutter.As the starting point of the rigid body kinematics,we rigorously derived the Euler expression of cutter movement,and described the movement of the cutter from a new perspective.We deduced the Euler rotation to any axis,and can describe the position and attitude of the cutter simply and effectively.Uses the sliding angle,downward angle and revolving angle can define cutter position and attitude,and gives the expression of the position and attitude of cutter and tooth.
引文
[1]冯永军,陈新权,丁金鸿,等.绞吸挖泥船桥架发展概述[J].中国港湾建设,2015(8):1-5.FENG Yong-jun,CHEN Xin-quan,DING Jin-hong,et al.Development overview of bridge ladder on cutter suction dredgers[J].China Harbour Engineering,2015(8):1-5.
[2]李金贵,李进军,杨建华,等.污染底泥精确疏浚技术[J].中国港湾建设,2004(6):11-14,20.LI Jin-gui,LI Jin-jun,YANG Jian-hua,et al.Technology for accurate dredging of contaminated subsoil[J].China Harbour Engineering,2004(6):11-14,20.
[3]王翰涛,鲁力群,王秀景.绞吸式挖泥船绞刀系统技术现状及发展[J].机电设备,2014(6):10-16.WANG Han-tao,LU Li-qun,WANG Xiu-jing.Technology status and development of cutter system of cutter suction dredger[J].Mechanical and Electrical Equipment,2014(6):10-16.
[4]张帆,曹喜滨,邹经湘.一种新的全角度四元数与欧拉角的转换算法[J].南京理工大学学报,2002,26(4):376-380.ZHANG Fan,CAO Xi-bin,ZOU Jing-xiang.A new large-scale transformation algorithm of quaternion to Euler angle[J].Journal of Nanjing University of Science and Technology,2002,26(4):376-380.
[5]林积昶,韩国柱,吴松,等.基于虚拟维修系统的配件模型实时移动方法[J].计算机工程,2010,36(10):254-255.LIN Ji-chang,HAN Guo-zhu,WU Song,et al.Real-time move method for accessory model based on virtual maintenance system[J].Computer Engineering,2010,36(10):254-255.
[6]徐旭松,杨将新,曹衍龙,等.基于齐次坐标变换的制造误差建模研究[J].浙江大学学报:工学版,2008,42(6):1 021-1 026.XU Xu-song,YANG Jiang-xin,CAO Yan-long,et al.Manufacturing error modeling based on homogeneous transformation[J].Journal of Zhejiang University:Engineering Science,2008,42(6):1 021-1 026.
[2]李金贵,李进军,杨建华,等.污染底泥精确疏浚技术[J].中国港湾建设,2004(6):11-14,20.LI Jin-gui,LI Jin-jun,YANG Jian-hua,et al.Technology for accurate dredging of contaminated subsoil[J].China Harbour Engineering,2004(6):11-14,20.
[3]王翰涛,鲁力群,王秀景.绞吸式挖泥船绞刀系统技术现状及发展[J].机电设备,2014(6):10-16.WANG Han-tao,LU Li-qun,WANG Xiu-jing.Technology status and development of cutter system of cutter suction dredger[J].Mechanical and Electrical Equipment,2014(6):10-16.
[4]张帆,曹喜滨,邹经湘.一种新的全角度四元数与欧拉角的转换算法[J].南京理工大学学报,2002,26(4):376-380.ZHANG Fan,CAO Xi-bin,ZOU Jing-xiang.A new large-scale transformation algorithm of quaternion to Euler angle[J].Journal of Nanjing University of Science and Technology,2002,26(4):376-380.
[5]林积昶,韩国柱,吴松,等.基于虚拟维修系统的配件模型实时移动方法[J].计算机工程,2010,36(10):254-255.LIN Ji-chang,HAN Guo-zhu,WU Song,et al.Real-time move method for accessory model based on virtual maintenance system[J].Computer Engineering,2010,36(10):254-255.
[6]徐旭松,杨将新,曹衍龙,等.基于齐次坐标变换的制造误差建模研究[J].浙江大学学报:工学版,2008,42(6):1 021-1 026.XU Xu-song,YANG Jiang-xin,CAO Yan-long,et al.Manufacturing error modeling based on homogeneous transformation[J].Journal of Zhejiang University:Engineering Science,2008,42(6):1 021-1 026.