建立弹性连杆机构动力学方程的一种新方法

A New Approach of Forming Dynamic Equation of Elastic Link Mechanisms

本文采用凯恩(Kane)方法,结合有限元法来建立运动弹性动力学(简称KED)的数学模型。运用此法还建立了计及作用在构件上的各种外力因素的连杆机构的KED 数学模型,借助该模型可以进行考虑多种因素的连杆机构的KED 分析.

In this paper a dynamic equation of elastic link mechanisms is est- ablished by combining the KANE epuation with the finite element method.It is easier to derive the dynamic equations with this approach than with others methods because the procedure of forming the equations is regular and well- arranged,especially in those cases where various effects to the mechanisms are considered.The equation in this paper includes effects of higher order accel- erations,shearing,the work done by the foreshortening of elements due to bending,axial forces,distributed moment of inertia,lumped masses and con- centrated moments of inertia existing in arbitrary positions of links and arbi- trary external forces.Therefore these effects much similar to those in real- action.