摘要
过约束机构运动副约束力存在求解困难的问题,尝试将达朗贝尔原理中的约束力项分解为静态约束力和动态约束力两部分,分别求取过约束条件下的静态约束力和平衡惯性力的动态约束力,通过二者叠加的方法求解示力副总约束力。以均布三对传力杆空间RCCR机构为研究对象,通过上述方法求解约束力,并将求解结果与动力学仿真运算结果对比,结果具有良好的一致性。
It is difficult to solve the binding force of motion pairs of over-constrained mechanisms.This study attempted to decompose the constraint term in the d'Alembert principle into two parts,static constraint and dynamic constraint.The static constraint under constraint conditions and the dynamic constraint of the equilibrium inertial force were obtained separately,and the total constraint force of the example was solved through the superposition of the two.Taking three pairs of uniform transmission rod space RCCR mechanism as the research object,the binding force was solved by the above method,and the solution results were compared with the dynamic simulation results.The results show a good consistency.
作者
崔超
庄森
Cui Chao;Zhuang Sen(School of Mechanical and Power Engineering,Zhengzhou University,Zhengzhou 450001,China)
出处
《机械传动》
北大核心
2024年第9期123-127,共5页
Journal of Mechanical Transmission
关键词
达朗贝尔原理
过约束
空间
RCCR机构
动约束力
D'Alembert principle
Overconstrained
Space RCCR mechanism
Dynamic binding force
