混合驱动五杆机构动态静力分析的向量键合图法

Vector Bond Graph Method of Kineto- static Analysis for Hybrid Driving Five Linkage Mechanism

为提高混合驱动连杆机构动态静力分析的效率及可靠性,提出了相应的向量键合图法。基于平面移动铰的运动约束条件,建立了更加简明的平面移动铰向量键合图模型。根据混合驱动五杆机构构件间的邻接关系,将平面运动刚体、旋转角及移动铰的向量键合图模型组合起来,建立了混合驱动五杆机构向量键合图模型。针对微分因果关系及非线性结型结构给该类机构自动建模与动力学分析所带来的代数困难,提出了有效的增广方法。在此基础上,推导出更加简明实用的系统驱动力矩及运动副约束反力的统一方程,实现了混合驱动五杆机构系统计算机辅助动态静力分析。通过实际算例说明了所述方法的可靠性及有效性。

For improving the reliability and efficiency of the kineto- static analysis for hybrid driving linkage mechanism,the corresponding vector bond graph method is proposed. Based on the kinematic constraint condition of planar translational joint,the more concise vector bond graph model of planar translational joint is built. According to the adjacency relationship of the components of hybrid driving five bar linkage mechanism,the vector bond graph model of hybrid driving five bar linkage is established by assembling the vector bond graph model of planar moving rigid body,revolute joint and translational joint. For the algebraic difficulties brought by differential causality and nonlinear junction structure in automatic modeling and dynamics analysis of this kind mechanism,the effective bond graph augment method is proposed. Based on this,the unified equations of system driving moment and constraint force at joints are derived,which are more concise and practical.As a result,the computer aided kineto- static analysis of hybrid driving five bar linkage system is realized. By a practical example system,the reliability and validity of the proposed method is illustrated.