多自由度平面机构的运动方程

Kinetic Equations of Plane Mechanisms with Multi-Degree of Freedom

研究多自由度平面机构运动微分方程的建立方法．以拉格朗日方程为基础，引入等于机构自由度数目的广义坐标；根据机构的动能与瞬时功率的变化特点，建立等效转动惯量、等效力的显表达式，从而推导出多自由度平面机构的运动微分方程；最后以实例说明了运动微分方程的建立过程．

A method to establish the kinetic differential equation of plane mechanisms with multi-degree of freedom was studied.On the basis of Lagrang eequation the generalized coordinates whose number was equal to the number of thedegrees of freedom of the mechanism were introduced,and according to the variation characteristics of the kinetic energy and instant power of the mechanism the explicit formulas of the equivalent moments of inertia and the equivalent forces were set up.In the end the kinetic differential equations of plane mechanisms with multi-degree of freedom was deduced.