计入几何非线性时弹性连杆机构通用动力学方程的建立

Generalized Dynamic Equations of Elastic Linkage Mechanism Systemswith Geometric Nonlinearity

本文应用有限元法及虚位移原理建立了计入几何非线性时弹性连杆机构一般形式的动力学方程，该方程不仅适用于由简单构件组成的平面及空间连杆机构的弹性动力分析，对由复杂构件组成的这类机构也具有很好的适用性，本文推导结果为进一步研究某些非线性因素对机构动态特性的影响奠定了基础。

In this paper ,by Using finite element method and virtual displacement principle,the gcneralized dynamic equations ofelastic linkage mechanism system have been establisbrd ,in which the gross motion and elastic deformtion couplirig termsand geometric nonlinearity effeets are taken into aceount. The equations are available nor only for dynamic analysis of sim-ple plarar and spatial mechanisms ,but also for complex elastic linkage mechenisms. The results of this paper lay a founda-tion for further studying the influnce of nonlinear factors on the dynamic characteristics of mechanisms.