任意平面机构运动、动力分析的一种新方法（二）─—机构运动及动力分析

A New Approach to the Kinentatic and Dynamic Analysis ofGeneral Planar Linkages :Part Ⅱ─Kinematic and dynamic analysis of mechanisms

本文以第一部分［１］为基础，通过机构单开链单元运动、动力学分析模型的组合，建立了复杂闭链机构维数最低的位置分析方程组，导出了一般平面闭链机构速度、加速度分析的显表达式，进而由虚功原理与达朗伯原理方便地建立起一般平面闭链机构的显式动力学方程并简化了机构的动态静力分析。公式推导简明、便于编程。最后给出了计算示例。

ased on the work done in the companion poper[1], the kinematic modeling of linkages , which in-cludes the derivation of equations with the fewest unknows for the displacement analysis of complexcled-chain planar linkages and the deiluction of explicit expressions for velcoty and aceeleration ofeach link or each pain ,is foamulated by assembling of the kinematic medeling of the components. Andthen , in conjuction with the principle of virtual work and the D'Alembert theorem , explicit dThaniic stateequations and forniulae for dynamic foree analysis for general planax linkages are forinulated in an easyway. At last ,an illustrative example is given.