平面7R-Ⅲ级机构的等效系统动力学建模与分析  

Analysis and modeling of the equivalent system dynamics of 7R-Ⅲ degree mechanism

作　　者：车仁炜[1] 陆念力[1] 胡长胜[1] 

机构地区：[1]哈尔滨工业大学机电学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2007年第3期326-330,共5页Journal of Harbin Engineering University

基　　金：黑龙江省自然科学基金资助项目(F2004-15)

摘　　要：以等效元素法建立了7R-Ⅲ级机构的通用动力学模型,将等效的思想与有限元的方法结合起来,通过静力和动力凝聚的方式将任一形式的构件的质量和惯量向质心或杆件两端等效,采用有限元方法对单元进行集成组装,建立既适用于定常约束系统也适用于非定常约束系统的动力学微分方程,将建模的关键归结为二阶张量Tia和三阶张量Tibc的建立以及等效质量阵的组装,建模和解算过程简单快捷.实现了规范、统一、易于组装和计算机编程的动力学系统建模.The general equivalent dynamics model for 7R-Ⅲ degree mechanism was established on the basis of EFEM（equivalent finite element method）. The fundamental principle is that equivalent should be combined with FEM（finite element method）. Quality and inertia are equivalent to the centroid or on the two ends of the bar for any form of component by the type of statical and dynamical condensation. Every element was built through the FEM. The system motive differential equation for any kind of constraint was derived. The key point of building dynamic model is to set up 2 steps tensor Tia and 3 steps tenser Tibc and assemble the equivalent mass matrix. The process to establish dynamics model was simple, rapid, standard, unification and programmed and the function is easy to be assembled.

关 键 词：7R-Ⅲ级机构 等效元素法 等效构件 等效质量阵 转换张量 

分 类 号：TH113[机械工程—机械设计及理论]