基于广义速度的平面连杆机构动力学分析向量键合图法

Vector Bond Graph Method for the Dynamics Analysis of Planar Linkage based on Generalized Velocity

为提高平面连杆机构动力学分析的效率及可靠性,提出了基于广义速度的向量键合图法。通过机构运动分析,建立机构速度向量、容性场速度向量、惯性场速度向量、阻性场速度向量及源场速度向量与机构广义速度向量的关系矩阵。在此基础上,建立了基于广义速度的平面连杆机构向量键合图模型。应用相应的算法,实现了平面六连杆压力机机构动力学自动建模、计算及分析,揭示了脉冲载荷对机构驱动力矩的影响,验证了所述方法的有效性及可靠性。

For improving the reliability and efficiency of the dynamics analysis for planar linkage,the corresponding vector bond graph procedure based on generalized velocity is proposed. By the kinematic analysis of mechanism,the relation matrix between mechanism velocity vector,the capacitance field velocity vector,the inertia field velocity vector,the resistive field velocity vector,the source field velocity vector and generalized velocity vector are established. Based on these,the vector bond graph model of planar linkage based on generalized velocity is established. By the corresponding algorithm,the automatic dynamics modeling,calculation and analysis of planar six bar press mechanism on a computer is realized,the influence of pulse working load on mechanism driving moment is revealed,and the validity of the procedure proposed is verified.