基于单开链单元的并联气液动连杆机构逆动力学分析  

Inverse dynamic analysis of a parallel pneumatic and hydraulic linkage based on single-opened-chain

作　　者：冯志友[1] 何连才[2] 杨廷力[3] 张策[4] 

机构地区：[1]天津工业大学天津市现代机电装备技术重点实验室,天津300160 [2]佳木斯大学机械工程学院,黑龙江佳木斯154007 [3]中国石化集团金陵石化公司,江苏南京210042 [4]天津大学机械工程学院,天津300072

出　　处：《机械设计》2010年第4期58-61,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50875261)

摘　　要：基于单开链单元应用牛顿欧拉法对平面并联气液动连杆机构进行了逆动力学分析。依据平面并联气液动连杆机构的拓扑结构特征,建立了与机构拓扑结构相统一的机构逆动力学分析模型,得到了维数恰等于机构耦合度的平面并联气液动连杆机构逆动力学方程。以一个3自由度平面并联气液动连杆机构为实例,给出了已知连杆运动规律下驱动力及运动副反力分析。Based on Single-opened-chain,inverse dynamic analysis for planar parallel pneumatic and hydraulic linkage is presented by using the Newton-Euler Formulation. The linkage inverse dynamic analysis mathematics model that is uniform with its topological structure characteristics is established. The inverse dynamic equations are derived,the equations’number of dimension is just equal to the linkage coupling-degree. As an example,the driving and kinematic pair forces analysis of a 3-DOF planar parallel pneumatic and hydraulic Linkage are obtained in the given kinematic condition of the linkage.

关 键 词：并联机构 气液动连杆机构 动力学分析 单开链 

分 类 号：TH112[机械工程—机械设计及理论]