RRR-RRR Ⅱ级杆组的等效系统动力学建模

An Equivalent System of RRR-RRR Ⅱ Grade Bar-group and Its Dynamic Model

将等效的思想与有限元的方法结合起来,用等效元素法建立了RRR Ⅱ级杆组的动力学等效模型,给出了其动力学微分方程,将建模的关键归结为二阶张量Tia和三阶张量Tibc的建立以及等效质量阵的组装。对给定的RRR-RRR六杆机构进行了建模和求解,给出了其动力响应曲线。实例表明,此方法与传统方法比较,无论从微分方程的列写,还是由计算机进行的解算,都显示出强大优势,解题效率高。

The equivalent approach combined with FEM was adopted to establish an equtvalent dynamxc model for a RRR Ⅱ grade bar-group. The key in building the dynamic model is to set up a second order tensor and a third order tenser, as well as to assemble an equivalent mass matrix. A RRR - RRR 6-bar mechanism was taken as example, the procedures of modeling, solving and analyzing processes were demonstrated and the response curves of its dynamics were obtained. The dynamic analysis proved that the method had a high efficiency compared with the conventional ones.