回转键合图法弹性连杆机构动态仿真

Gyrobondgraph Method For The Dynamic Simulation of Mechanisms with Elastic Linkages

本文较详细地给出了弹性连杆机构动态仿真的回转键合图法,给出了一般弹性连杆机构的键合图模型,在此基础上推导出了便于求解的刚、弹性连杆机构状态方程的统一表达式。用本方法所编制的计算机程序,可以格式化的方式在计算机上自动建立机构(弹性、刚性)的状态方程并求解。

In this paper, the gyrobondgraph method for the dynamic simulation of mechanisms with elastic linkages is introduced in detail, the bond graph model for the general mechanisms with elastic Links is given, the unified formula of state-space equations of mechanisms (elastic, rigid) which can be solved easily is derived. By the program associated with this method, the state-space equations of mechanism (rigid, elastic) can be generated and solved schematically and automatically. Finally, some numerical examples are used to illustrate the reliability and generality of the proposed procedure.