柔性平面连杆机构动态静力分析的回转键合图法  

Gyrobondgraph Method of Static Analysis for Dynamic of Flexible Planar Linkage

作　　者：王中双[1] 陆念力[1] 巨勇智[2] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001 [2]齐齐哈尔大学机械工程学院,黑龙江齐齐哈尔161006

出　　处：《南京理工大学学报》2005年第5期565-569,共5页Journal of Nanjing University of Science and Technology

基　　金：齐齐哈尔市学科带头人基金项目(03P019)

摘　　要：为提高多能域耦合柔性平面连杆机构动态静力分析的效率及可靠性,提出了回转键合图法。阐述了建立柔性平面连杆机构键合图模型的一般方法,推导出便于计算机自动生成的完整形式的机构平衡力矩及运动副约束反力的统一公式,有效地克服了非线性几何约束及微分因果关系所带来的代数问题,实现了计算机自动建模。实际算例表明了所述方法的有效性。In order to increase the efficiency and reliability of the static analysis for dynamic of flexible planar linkage containing the coupling of multi-energy domains, a method based on gyrobondgraph is introduced. The general procedure of modeling flexible planar linkage by bond graphs is proposed. The unified formulae of balancing moments and constraint forces at joints are derived and are easily generated on a computer in a complete form. As a result, the very difficult algebraic problem caused by differential causality and nonlinear geometric constraints can be overcome, and the automatic modeling on a computer is realized. By a practical example, the validity of this procedure is illustrated.

关 键 词：柔性连杆机构 动态静力分析 微分因果关系 回转键合图 

分 类 号：TH113[机械工程—机械设计及理论]