机械原理课程设计 | Course Projects of Mechanism and Machine Theory

基于MATLAB的机械原理课程设计，采用先进工具开展机构运动学和动力学分析，以及机器人机构运动仿真。Kinematic and Dynamic Analysis of Mechanisms, and Motion Simulation of Robotic Mechanisms.

课程内容包括：

学习MATLAB语法、脚本、函数、绘图、符号计算等知识；开展基于Simulink / Simscape / Multibody的曲柄滑块机构、曲柄摇杆机构等四杆机构动力学仿真，串联及并联两自由度机器人点位控制与连续轨迹控制，平面及空间三自由度机器人轨迹规划与运动仿真；探讨四自由度机器人仿真。

本课程提供7项课程实验，分别是：

（1）曲柄滑块机构；

（2）曲柄摇杆机构；

（3）串联2自由度机器人；

（4）平面3自由度机器人；

（5）空间3自由度机器人；

（6）4自由度机器人；

（7）并联2自由度机器人。

感谢孙海岩和刘名同学协助制作实时脚本。项目素材改编自往年同学的课程作业。

Course Content:

The curriculum covers MATLAB syntax, scripting, functions, plotting, and symbolic computation. Using Simulink/Simscape/Multibody, it implements:

• Dynamic simulation of four-bar mechanisms (e.g., crank-slider and crank-rocker mechanisms)
• Point-to-point control and continuous trajectory control for 2-DOF serial/parallel robots
• Trajectory planning and motion simulation for planar/spatial 3-DOF robots
• Exploration of 4-DOF robot simulation.

Projects (7 items):

(1) Crank-Slider Mechanism

(2) Crank-Rocker Mechanism

(3) Serial 2-DOF Robot

(4) Planar 3-DOF Robot

(5) Spatial 3-DOF Robot

(6) 4-DOF Robot

(7) Parallel 2-DOF Robot

Acknowledgement to SUN Haiyan and LIU Ming for developing the Live Scripts. The project materials are adapted from previous students' coursework.