RPR-RRP平面连杆机构等效转动惯量及其神经网络模型  

Equivalent moment of inertia for RPR-RRP planar linkage and it's model of neural network

作　　者：曲秀全[1] 孟庆鑫 袁夫彩 

机构地区：[1]哈尔滨工业大学机电学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学机电学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2006年第3期350-352,361,共4页Journal of Harbin Institute of Technology

基　　金：黑龙江省自然科学基金资助项目(E0220)

摘　　要：在系统动能相等的条件下,以质点系动能和刚体绕质心转动动能为基础,引入多余坐标,通过平面连杆机构的非线性稳定的几何约束消去多余速度,导出了以原动件的位移为广义坐标和其他活动构件的位移为多余坐标表示的等效转动惯量的计算公式.为消去多余坐标引入了BP神经网络,建立了以广义坐标为自变量的等效转动惯量的数学模型.并以RPR-RRP平面六杆机构为例说明了等效转动惯量的计算过程.Equivalent moment of inertia is the key to the equivalent dynamic model of a planar linkage in the dynamic analysis. Based on the law of conservation of kinetic energy, an analytical formula is proposed to calculate the equivalent moment of inertia of the whole system. The angular displacement of the driving link is taken as generalized coordinate and the displacements of other links are taken as redundant coordinates. The overall kinetic energy of the system can be obtained using the differentials of the generalized coordinate and the redundant coordinates which may be eliminated through the nonlinear stable geometric constraints. BP neural network is used to remove redundant coordinates and mathematical model of equivalent moment of inertia for generalized coordinates is built. A RPR-RRP planar six-bar the suggested formula and neural network model. linkage is employed to verify the effectiveness of the suggested formula and neural network model

关 键 词：等效转动惯量 广义坐标 多余坐标 平面连杆机构 完整平稳系统 神经网络 

分 类 号：TH132.41[机械工程—机械制造及自动化]