平面连杆机构动力学矩阵数学模型的建立

Establishment of dynamic matrix formula about planar linkage

根据平面连杆机构的组成特点,将平面连杆机构抽象成由平面质点系和平面刚体系组成的一个有根平面混合系统.以虚功率形式所表示的动力学普遍方程为出发点,推导出平面连杆机构系统矩阵形式的动力学普遍方程数学模型,采用这种矩阵表示形式的动力学普遍方程具有简单、明了、便于应用,在应用过程中不宜出错等优点,并以一个单自由度平面六杆机构为例,说明该平面连杆机构系统矩阵动力学普遍方程的应用过程.

The plane linkage was generalized to a root-face hybrid system that composes of a planar particle system and a planar rigid body system. The mathematical model of general equation of dynamics was derived and expressed, based on the general equation of dynamics in form of virtual power. The derived equation possesses the advantages of easy operation and less errors in application. The planar six-bar mechanism with single degree of freedom was taken as an example to illustrate the application of the general equation of dynamics.