一类非完整约束运动传递机构的动力学建模及仿真  

Dynamic modeling and simulation of a nonholonomic constraint motion transmission mechanism

作　　者：赵静[1] 李亮[1] 谭跃刚[1] 

机构地区：[1]武汉理工大学机电工程学院,武汉430070

出　　处：《新型工业化》2013年第9期42-46,共5页The Journal of New Industrialization

基　　金：高校博士点科研专项基金(20100143110012)

摘　　要：摩擦圆盘运动传递机构是一类新型的非完整机构,分析其动力学特性可以进一步优化结构设计,实现系统的精确控制。本文在研究其非完整约束特性的基础上,利用Lagrange方法建立了其动力学模型,并结合计算机仿真技术,对其转动角为正弦运动时各转轴上的力矩进行仿真分析,仿真结果显示该机构的结构参数合理,能够保证力矩不至过大,而且力矩曲线较平滑,具有良好的动态特性。The friction disk motion transmission mechanism is a novel nonholonomic mechanism. The structure parameters can be optimized through dynamic analysis, so as to obtain accurate control of the system. Based on nonholonomic constraint features, dynamic model is derived by using the Lagrange method. Then, combined with computer simulation technology, torque on the axes were simulated while its movement is trajectory of the sine curve. Simulation results show that the pre-set structural parameters are reasonable, guarantee a smooth torque curve and good dynamic characteristics, and also avoid too large torque.In a word, this mechanism has good dynamic characteristics.

关 键 词：非完整机构 动力学 LAGRANGE方法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]