计及热效应的闭环柔性机械系统的动力学分析.pdfVIP

24 12 Vol. 24 No. 12 2005 12 M ECHANICAL SCIENCE AND TECHNOLOGY December 2005 : 2005) 李 琳, 刘锦阳 ( , 200030) : 基于柔性多体系统动力学理论对一个刚柔耦合的平面闭环机械系统的动力学 性进行分析首先推导出 不计热效应时的平面机械系统的第一类拉格朗日动力学方程, 然后利用热应力理论得到柔性梁的应力应变关系, 进而对系统的动力学方程进行修正以得到计及热效应的系统动力学方程数值仿真结果显示, 当系统运行到奇异 点位置附近时, 各 个动力学 性变量均出现明显的增大趋势; 当温度发生变化时, 各 个构件的位移基本保持不变, 但 构件的速度机械臂的轴向变形和轴向约束力则产生明显波动, 从而揭示出热应力对系统动力学性态的影响 : 闭环柔性机械系统; 动力学 性; 热效应 : TB12 : A D ynam icA nalysis of a C losedloop F lexibleM echanical System in Consideration of the Effect of Therm al D isturbance Li Lin, L iu Jinyang (D epartment of EngineeringM echan ics, Shanghai JiaotongU niversity, Shanghai 200030) Abstract: Based on the theory of flexiblemu ltibody system, the paper presents the dynam ic analysis of a planar rigidflexible coupling mechan ical system. The influence of thermal stress on dynam ic characteris tics of the system is also studied. Firstly, the first Lagrange dynam ic equations of the planarmechanical system w ithout considering thermal disturbance are deduced. Then the stressstrain relationsh ip of flexible beam is studied by using the theory of thermal stress. Finally the dynam ic equations aremod ified to obtain those w ith consideration of the effect of thermal d isturbance. Numerical smi ulations results indicate that w hen the system moves and approaches the location of a singular configuration, all the dynam ic variables of the system become evidently larger. W ith the effect of thermal d isturbance considered, the d isp lace ment of every component of the system show s small change compared w ith those w ithout considering the effect of thermal d isturba