3.3.6　对象收集器·······························60
3.3.7　对象变换器·······························65
3.3.8　碰撞材料···································68
3.4　执行器·····················································71
3.4.1　速度控制···································71
3.4.2　位置控制···································73
3.5　本章小结·················································75
习题··································································76
第
4
章　 机电一体化概念设计的
运动仿真···································77

4.1　 机电一体化概念设计运动仿真概述······77
4.2　运动副·····················································78
4.2.1　铰链副·······································78
4.2.2　固定副·······································81
4.2.3　滑动副·······································85
4.2.4　柱面副·······································89
4.2.5　球副··········································91
—· VII ·—


4.2.6　螺旋副·······································93
4.2.7　平面副·······································95
4.2.8　弹簧副·······································96
4.2.9　弹簧阻尼器·······························99
4.2.10　限制副···································101
4.2.11　点在线上副···························103
4.2.12　路径约束运动副···················103
4.2.13　线在线上副···························105
4.3　耦合副···················································107
4.3.1　齿轮副·····································107
4.3.2　机械凸轮副·····························113
4.3.3　电子凸轮·································120
4.4　传感器···················································122
4.4.1　碰撞传感器·····························122
4.4.2　距离传感器·····························122
4.4.3　位置传感器·····························124
4.4.4　通用传感器·····························125
4.4.5　限位开关·································126
4.4.6　继电器·····································127
4.5　约束·······················································128
4.5.1　断开约束·································128
4.5.2　防止碰撞·································131
4.6　变换对象属性·······································132
4.6.1　显示更改器·····························132
4.6.2　变换对象·································134
4.7　 物理定义转换—概念模型替换为
详细模型···············································135
4.8　本章小结···············································138
习题································································139
第
5
章　 仿真的过程控制与
协同设计·································141

5.1　过程控制与协同设计简述····················141
5.2　运行时参数与运行时表达式················141
5.2.1　运行时参数·····························141
5.2.2　运行时表达式·························143
5.2.3　虚拟轴运动副·························148

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