含歧运动位平面机构的动力学研究  

Dynamics of planar mechanism with kinematics bifurcation positions

作　　者：曹惠 李春明[1,2] 刘庆[1] 李万腾 CAO Hui;LI Chunming;LIU Qing;LI Wanteng(Shengli College,China University of Petroleum(East China),Dongying 257061,China;Faculty of Mechatronics Engineering,China University of Petroleum(East China),Qingdao 266580,China;School of Mechanical Engineering,Shandong University,Ji’nan 250061,China)

机构地区：[1]中国石油大学(华东)中国石油大学胜利学院,山东东营257061 [2]中国石油大学(华东)机电工程学院,山东青岛266580 [3]山东大学机械工程学院,山东济南250061

出　　处：《应用科技》2021年第3期86-90,共5页Applied Science and Technology

基　　金：东营市科学发展基金项目(DJ2020011);中国石油大学胜利学院在线课程建设基金项目(XJKC201804);山东省自然科学基金项目(Q2006A08).

摘　　要：针对机械动力学仿真的基础研究领域中,平面四杆(体)机构程序化动力学的歧运动位运动学这一瓶颈问题,本文就以下3个问题开展研究:1)在分析一个具有3个歧运动位的平面四体机构基础上,提出根据动力学方程求解力导数的计算方法;2)在歧运动位,根据洛必达法则求解0/0型不定式形式的力表达式;3)假设主动摇杆按照简谐规律摆动,进行动力学仿真。结果表明,从构件(体)受力的角度发现该机构在运动过程当中存在柔性冲击。坐标的三阶以上高阶导数不能用于类似于牛顿第二定律的计算式,但是却可用于上述研究;与存在速度突变或加速度突变的时刻一样,存在力突变的时刻也存在冲击;该机构的运动特点与非线性动力学的仿真收敛性和响应分岔无关。The purpose of this paper is to solve a kinematics bottleneck such as the kinematics bifurcation position of the planar four-bar(quabody)mechanism programming dynamics,in the basic research field of mechanical dynamics simulation.Three problems are studied:1)Based on the analysis of a planar quabody mechanism with three kinematics bifurcation positions,a method for calculating the force derivative is proposed according to the dynamic equation.2)In the kinematics bifurcation position,the 0/0 type of infinitive calculation formula of some force should be solved according to L’Hopital’s rule.3)The dynamics simulation of this mechanism is done,supposing the active rocker swings under a harmonic law.The result shows that there is a flexible impact in the moving process of the mechanism from the point of view of the force on the component(body).It can be concluded as follows:The higher derivative of displacement above three order can’t be applied to the expression similar to that of Newton's second law,but it can be applied to the above research.The same as the moment with a sudden change of velocity or acceleration,the moment with a sudden change of force has also an impact.This kinematics characteristics of the mechanism are independent of the simulation convergence and response bifurcation of nonlinear dynamics.

关 键 词：平面四体机构 歧运动位 死点 卡位 力的导数 动力学仿真 洛必达法则 不定式 

分 类 号：O311[理学—一般力学与力学基础] TH113[理学—力学]