固定-导向模式下柔顺杆的3R伪刚体动力学建模及特性分析

Dynamic Modeling and Analysis of Compliant Bar Based on 3R Pseudo-rigid-body Model in the Fixing-guiding Mode

以柔顺机构中的柔顺杆为研究对象,建立其在固定-导向作用下的3R伪刚体动力学模型,基于拉格朗日方程推导其动力学方程,并进行动力学特性分析。从方程、响应曲线等方面分析3R伪刚体动力学模型的优缺点,结果表明,3R伪刚体动力学模型可以更细致地体现柔顺机构的振荡特性。

A new dynamic model of compliant bar in the fixing-guiding mode is proposed based on three degrees offreedom pseudo-rigid-body model （3R PRBM）, then the dynamic equations are derived via the Lagrange equation andthe dynamic response characteristic is analyzed. The merit and demerit of the 3R pseudo-rigid-body dynamic model（3R PRBDM） is presented in the equation property and dynamic responses. The results indicate that the 3R PRBDMcan be used to show the microscopic oscillating characteristic of compliant mechanisms.