两自由度可控平面连杆机构机电耦合系统的超谐波共振分析  

Sub-harmonic resonance analysis of 2-DOF controllable plane linkage mechanism electromechanical coupling system

作　　者：王汝贵[1] 蔡敢为[1] 

机构地区：[1]广西大学机械工程工程学院,广西南宁530004

出　　处：《山东大学学报（工学版）》2008年第3期58-63,共6页Journal of Shandong University（Engineering Science）

基　　金：国家自然科学基金资助项目(50175031;50565001);广西科学基金资助项目(0542005);教育部科学技术重点资助项目(205119);广西"新世纪十百千人才工程"专项资金资助项目(2003203)

摘　　要：以具有平行四边形铰链机构的操作机器手为研究对象,对其平面运动时的动力学问题进行研究.将可控电动机和机器手机构作为一个整体,应用有限单元法建立了系统机电耦合非线性动态方程;利用多尺度法对系统的超谐共振问题进行了分析,得到机器手机电耦合系统超谐共振的一次近似解,揭示了系统超谐共振机理.最后给出算例.The dynamics of robotic manipulator with the parallelogram hinged mechanism were investigated while it motioned in plane. The controIlable motor and the hinged mechanism were studied in an integrated mariner, and the electromechanical coupling nonlinear dynamic equation of the system was established by the finite element method. The subharmonic resonance of the system was studied using the method of multiple scales. The first order approximate solutions of the subharmonic resonance of the system were obtained. The characteristics of subharmonic resonance of the system were disclosed, and a numerical example was also discussed.

关 键 词：机器手 伺服电动机 机电耦合 超谐共振 

分 类 号：TH112.5[机械工程—机械设计及理论] TH113