理论力学：《运动学》课程PPT教学课件（双语）第十章 刚体的一般运动

Theoretical mechanics Chapter 10, general motion of a rigid body

1 Theoretical mechanics

理论力学 第十章

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Chapter 10: General motion of a rigid body D810-1 Composition of rotations about two parallel axes

3 §10–1 Composition of rotations about two parallel axes Chapter 10: General motion of a rigid body

第十章刚体的一般运动 §10-1刚体绕平行轴转动的合成

4 §10–1 刚体绕平行轴转动的合成 第十章 刚体的一般运动

Kinematics Chapter 10: General motion of a rigid bod §1 10-1 Composition of rotations about two parallel axes Composition problem of rotations about parallel axes is often encountered in mechanical engineering. For instance, the planet gear wheel in a planet gear mechanism has plane motion. In previous study, we dealt with a plane motion of a planet gear by decomposing it into a translation and a rotation. However, it is more convenient to view the plane motion of a planet gear as a composition of two rotations

5 Chapter 10: General motion of a rigid body §10-1 Composition of rotations about two parallel axes Composition problem of rotations about parallel axes is often encountered in mechanical engineering. For instance, the planet gear wheel in a planet gear mechanism has plane motion. In previous study, we dealt with a plane motion of a planet gear by decomposing it into a translation and a rotation. However, it is more convenient to view the plane motion of a planet gear as a composition of two rotations

远动学 第十章刚体的一般运动 §10-1刚体绕平行轴转动的合成 刚体绕平行轴转动的合成问题在机械中经常遇到。 例如,行星圆柱齿轮机构,行星轮作平面运动。前面 所研究的平面运动是把它看成为平动和转动的合成运 动,但是在分析行星轮系的传动问题时,将行星轮的 平面运动看成为转动与转动的合成运动则比较方便

6 第十章 刚体的一般运动 §10-1 刚体绕平行轴转动的合成 刚体绕平行轴转动的合成问题在机械中经常遇到。 例如，行星圆柱齿轮机构，行星轮作平面运动。前面 所研究的平面运动是把它看成为平动和转动的合成运 动，但是在分析行星轮系的传动问题时，将行星轮的 平面运动看成为转动与转动的合成运动则比较方便

Take a planet gear mechanism as an example. Static system is Oxy Moving system iS O1 Iry Relative motion: rotation about axis O2, y 0. is the relative angular velocity. Embroiling motion rotation about axis O1 @, is the embroiling angular velocity (Look for the animation on the next page) 7

7 （Look for the animation on the next page） Take a planet gear mechanism as an example. Static system is O1 xy Moving system is O1 x'y' Relative motion: rotation about axis O2 , r is the relative angular velocity. Embroiling motion: rotation about axis O1 , e is the embroiling angular velocity

例如在行星轮系中 静系:Oxy Or 动系:O1xy 相对运动:绕O2轴转动, O为相对角速度 牵连运动绕O1轴转动, O为牵连角速度。 (翻页请看动画) 8

8 静系： O 1 xy 动系： O 1 x'y' 相对运动: 绕 O 2轴转动, r为相对角速度。 牵连运动: 绕 O 1轴转动, e为牵连角速度。 （翻页请看动画） 例如在行星轮系中

Kinematics

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远动学 0 10

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