Analysis Of Kinematics And Dynamics For The 3-Dimensional Shaker Mixer

In the thesis, such mathematical and mechanical knowledge as matrix algebra, tensor analysis, homogeneous coordinates and their transformation, Lagrange's and Euler's dynamics equations are used to analyze the kinematics and dynamics of the 3-dimensional shaker mixer in great detail.In the analysis of kinematics, the closed chain of the 3-dimensional shaker mixer is first open. The kinematics equations of each frame member of the open chain system of rigid bodies with multi-degree-of-freedom are established. Then, according to the closed chain constraints, the constraint equations are established. Hence, the kinematics equations of each frame member of the closed chain system of rigid bodies with single-degree-of-freedom are obtained. The relative and absolute angular velocity and angular acceleration equations of each frame member of the 3-dimensional shaker mixer are further derived. The mass geometry of each frame member with respect to each self-coordinates is calculated. All the above work makes preparations for the dynamics analysis of the 3-dimensional shaker mixer.In the analysis of dynamics, the Lagrange's dynamics equations of the system are...