3曲柄群模型.doc

曲柄群驱动机构动力学建模与分析 摘 要 曲柄群驱动机构是一种近期在国内出现的新型传动机构，它由一个主动曲柄转动来带动其他若干从动曲柄同步转动，适用于驱动多个平行轴同步转动、传递扭矩不太大的场合，现已在部分烟草机械、专用钻床等轻工机械中得到使用。曲柄群驱动机构具有结构简单、价格低廉的优点，但现在仍属于初步开发应用阶段，缺乏对它的理论研究。 由于此机构是由多个平行四边形机构并联而成，本文就以含间隙的平行四边形机构为例，此机构中有两个曲柄，确定其中一曲柄为主动曲柄，研究分析其中各曲柄、连杆和间隙的运动、受力情况，通过联立约束法列出其运动学、动力学方程成，表达机构各组件位移、速度、加速度、受力、转矩等的关系，并组合成一组线性方程，建立起数学模型。 之后利用MATLAB软件中的Simulink工具箱建立出它的仿真模型，设置各项参数、输入仿真时间后运行仿真，经过多次调试得到结果，即各曲柄的转角、角速度及角加速度，和各杆受力情况的变化规律曲线。 关键词：曲柄群驱动机构，动力学建模与分析，MATLAB/Simulink Dynamics Modeling and Analysis of the Crank-group Driving Mechanism ABSTRACT The crank-group driving mechanism is a new type of transmission mechanism appears in China recently, which consists of one driving crank and many other driven cranks. It is suitable for driving a plurality of parallel axis synchronous rotation, or which torque is not too large. It has been used in some tobacco machine, special machine and other light industrial machines. The crank-group driving mechanism has the advantages of simple structure, low price, but still belongs to the initial development stage, lack of theoretical research. Because this mechanism is composed of some parallelogram mechanism, this paper uses the parallelogram mechanism with clearance as an example.There are two cranks in this mechanism, determine one of them to active crank. Then analysis and clearance of the movement, stress conditions. Use the simultaneous constraint method to lists the kinematics, dynamics equation,the relationship between the expression of each component displacement,speed, acceleration, force, torque, and combined into a set of linear equations, to build the mathematical model. At last,build the simulation model in MATLAB software Simulink toolbox, set the parameters, run the simulation input simulation time. After several debugging results, we can get the driven crank’s angle, angle velocity , angle acceleration and the rod stress changing curve. KEYWORDS: Crank-group driving mechanism, Dynamic modeling and analysis, MATL