用冗余驱动方法进行柔性机构动力平衡的理论与试验研究  

THEORETICAL AND EXPERIMENTAL STUDY ON THE DYNAMIC BALANCING OF FLEXIBLE MECHANISMS USING REDUNDANT DRIVES

作　　者：余跃庆[1] 蒋斌[1] 

机构地区：[1]北京工业大学机电学院,北京100022

出　　处：《机械工程学报》2005年第8期24-29,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50375003)

摘　　要：采用冗余驱动方法对柔性机构的动力平衡进行了研究。建立了具有冗余驱动的柔性连杆机构动力学模型, 从理论上阐述了冗余驱动的平衡原理;给出了柔性机构最优平衡方法及其数值仿真结果;用附加冗余驱动电机的方法对一平面4R柔性连杆机构的动力平衡进行了试验研究,试验结果与理论分析吻合,充分表明了该方法的有效性和优越性。The dynamic balancing of flexible mechanisms is studied using redundant drives. The dynamic equation of the flexible mechanisms with redundant drives is developed at first. The optimum balancing of a flexible linkage is then obtained via additional actuator. The experimental study of a planar 4R linkage is presented finally. Both the numerical simulation and experimental result illustrate the effectiveness and advantages of the balancing method.

关 键 词：冗余驱动 柔性机构 动力平衡 

分 类 号：TH122[机械工程—机械设计及理论]