摘要
目的对柔性机构动力学进行建模和计算机模拟。方法以组成机构的构件为单元，把构件的刚性运动和弹性变形统一用模态多数表示；以梁单元为代表分析了集中质量及分布质量情况下的梁的惯性特征；引入弹性线的概念，用虚功率原理得出系统的动力学方程。结果给出了一种柔性机构动力学建模的方法，开发出了相关的软件。结论柔性机构动力学分析的有限元件法不仅对柔性机构动力学的建模具有一定的理论意义而且具有广泛的工程应用前景。
Aim To perform dynamics analysis of mechanisms with flexible links and computer simulation. Methods Elements of mechanisms were used to perform the configuration, kinematics and dynamics analysis of mechanisms with flexible links; spa- tial beam element was introduced and the motion equations of mechanisms were de- rived based on the principle of virtual power power with conception of elastic line of beam. Results Finite element method of dynamics analysis of mechanisms is provided and a computer programme was developed. Conclusion Finite element method of dynamics analysis of mechanisms with flexible links has not only the theoretical value but also applications in the field of mechanical engineering.
出处
《北京理工大学学报》
EI
CAS
CSCD
1998年第4期406-410,共5页
Transactions of Beijing Institute of Technology
关键词
柔性机构
动力学
有限元
mechanisms with flexible links
finite element
dynamics
