平面闭链五杆机构的动力学分析

Dynamics analysis of plane close chain five-bar mechanisms

用复矢量法[1]结合拉格朗日第二类方程对平面闭链的两自由度五杆机构进行了动态分析,给出其等效转动惯量,由导出的动力学方程指出影响平面五杆机构运动特性的关键因素、产生耦合的原因及解耦需满足的条件。提出了两自由度五杆机构实现完全解耦的可能方法,为平面闭链五杆机构的合理设计提供了必要的理论依据和简单可行的研究方法。

The dynamic analysis of the plane close chain five-bar mechanisms with two degrees of freedom is established by complex vector method and Lagange’s equation of the second kind, the equivalent moment of inertia is given out interfere with key factor of the motion characteristics of the plane five-bar mechanisms and bring about reasons of the coupling and conditions of satisfying decoupling are pointed out by the equation of dynamics is inferred. May method realizing all solve decoupling is put forwarded for five-bar mechanisms with two degrees of freedom. The basic theory and single feasible studying method is provided for reasonable designing of the plane close chain five-bar mechanisms.