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A computer-aided simulation approach for mechanisms with time-varying topology

机译：时变拓扑机制的计算机辅助仿真方法

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摘要

The topology of particular mechanisms including cams may change during motion, due to intermittent contact joints, leading to addition, deletion or modification of constraints. The bases of a computer-aided kinematic and dynamic simulation of mechanisms with time-varying topology are developed in this paper. Relative coordinates are used to describe in a unified way the properties of either lower-pair or higher-pair joints. The equations governing the motion of the mechanism are obtained by the Hamilton formulation. A piecewise method is used to solve the impact problem consecutive to the collisions between bodies. A set of strategies is developed to manage the modifications of topology during motion. Illustrative examples are presented, more particularly in the case of sear and trigger mechanisms used in the mechanism of shooting of some particular firearms.
机译：包括凸轮在内的特定机构的拓扑可能会在运动过程中由于间断的接触关节而变化，从而导致约束的增加，删除或修改。本文开发了时变拓扑机构的计算机辅助运动学和动态仿真的基础。相对坐标用于统一描述下对或上对关节的属性。通过汉密尔顿公式获得控制机构运动的方程。分段方法用于解决与物体之间的碰撞连续的冲击问题。开发了一套策略来管理运动期间拓扑的修改。给出了说明性示例，更具体地，在某些枪支射击机构中使用的灼伤和触发机构的情况下，给出了示例。

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