闭链刚柔五杆机构动力学建模与仿真研究

Dynamic modeling and simulation of close chain flexible five-bar mechanisms

复杂机构动力学的快速建模与高效计算,是机构学领域关注的难题之一,对复杂机构高效运动预测和优化设计具有重要的理论与实用价值。应用多体系统离散时间传递矩阵法,定义了平面闭链刚柔五杆机构的状态矢量,推导了典型元件的传递方程和传递矩阵,实现了对平面闭链刚柔五杆机构动力学的快速建模与计算。分别应用本文方法和L agrange方法实例计算了某闭链平面刚柔五杆机构动力学,计算结果对比验证了本文方法的有效性和高效性。本文方法无需建立系统总体动力学方程,涉及系统矩阵阶次与系统自由度无关,建模灵活,计算速度快,可推广应用于其他复杂机构动力学研究。

The research on efficient dynamic modeling and simulation of complex mechanisms is one of the difficult problems in the field of mechanism and control engineering,and it is of significance for efficient dynamic evaluating and optimizing design.In this paper,based on the discrete time transfer matrix method of multibody system,via defining the state vectors and deducing the transfer equations and transfer matrices of typical elements,the high-efficient dynamic modeling and simulation of close chain flexible five-bar mechanisms is realized.Formulations of the proposed method as well as a numerical example of a close chain flexible five-link mechanism are given to validate the method.Compared to ordinary dynamics methods,the proposed method doesn′t need the global dynamics equations of system and has the low order of system matrix,high computational efficiency.This method can be extended to study the dynamics of other complex mechanisms.