摘要：本文用复数和矩阵建立了曲柄、RPR、RRPⅡ级杆组的运动学的数学模型,并编制了相应的M函数仿真模块,对给定的RPR-RRP六杆机构进行了建模和仿真,其主要思想是以组成机构杆组为仿真模块,搭建各种机构MATLAB仿真模型,对各种低副机构进行运动学仿真.
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