基于并行计算的平面可调五杆机构动力学解析模型与仿真

Analytical dynamic model and simulation for planar adjustable five-bar mechanisms based on parallel calculation

基于凯恩动力学方程、数字-符号方法和并行计算建立了杆长和惯性参数可变平面可调五杆机构的动力学解析模型,并对驱动构件质量和杆长对驱动力/力矩的影响进行了仿真分析。将动力学模型的推导问题转化为特定条件下运用运动学和动力学计算公式求解机构驱动力矩的问题,并将广义坐标以及驱动构件杆长和惯性参数作为符号量,导出了模型矩阵元素数字-符号表达式。

The analytical dynamic model for planar adjustable five-bar linkages ,in which lengths and inertia parameters of links can be changed, is established based on kane dynamic equation,numeric- symbolic approach and parallel calculation. The influence of lengths and mass of driving links on driving force/torgue are also studied. The problem of deriving dynamic model is transformed into solving for driving moment under specified conditions by kinematic and dynamic formulae ,then the numeric-symbolic- ex- pressions of the analytical dynamic model are derived in which lengths and inertia parameters of links as well as generalized coordinates are expressed as symbols.