摘要
为丰富和发展机构学理论,通过引入切断铰,将空间串并联机构的运动学分析问题转化为开链机构和局部闭链机构的运动学分析子问题,基于旋量理论建立切断铰空间机构的运动学和动力学模型。采用旋量理论和Kane方法对五杆两自由度闭链变胞机构的广义主动力和广义惯性力进行了计算,并建立切割变胞机构的全构态动力学方程。该方法为变胞机构的动力学建模提供了参考依据。
This paper is an attempt to enrich and develop the theory of mechanism by transforming motion analysis problem of spatial series-parallel mechanism into motion analysis sub-problem of open chain and closed-chain mechanism as a result of cut-off joint and developing kinematics and dynamics models of spatial mechanism based on screw theory. The paper describes the calculation of the inertia main force and the inertia main torque using screw theory and Kane method in the case of the two DOF of five rods closed chain meta- morphic mechanism and the development of the configuration-complete dynamic model for metamorphic mech- anism. This model provides some reference for dynamics model of metamorphic mechanism.
出处
《黑龙江科技学院学报》
CAS
2013年第3期241-245,共5页
Journal of Heilongjiang Institute of Science and Technology
