含拐点的柔顺机构动力学建模及分析-JournalofSystems.PDF

第44卷 第4期 北 京 工 业 大 学 学 报 Vol.44 No.4 2018年 4月 JOURNAL OF BEIJING UNIVERSITY OFTECHNOLOGY Apr. 2018 含拐点的柔顺机构动力学建模及分析 余跃庆,张摇 娜 (北京工业大学机械工程与应用电子技术学院,北京摇 100124) 摘摇 要:为分析含拐点的大变形柔性梁的动态响应,建立含拐点的柔顺杆的动力学模型,基于拉格朗日方程推导其 动力学方程组,在MATLAB软件中求解出其转角随时间变化的特性曲线,并与ADAMS软件仿真所得角位移曲线 进行比较. 研究表明:含拐点柔顺机构的拐点关节依靠各杆间的动力学耦合运动,拐点关节的转角变化很大,这体 现了含拐点的柔顺机构动力学模型与不含拐点的柔顺机构动力学模型的区别,柔顺机构动力学模型能精确地反映 柔顺机构的运动和变形. 关键词:柔顺机构;伪刚体模型;拐点;动力学 中图分类号:TH112 文献标志码:A 文章编号:0254-0037(2018)04-0489-08 doi:10.11936/ bjutxb2017060043 Dynamic Modeling and Characteristic Analysis of Compliant Mechanisms With Inflection Point YU Yueqing,ZHANG Na (College of Mechanical Engineering and Applied ElectronicsTechnology,Beijing University of Technology, Beijing 100124,China) Abstract:To analyze large deflection beams with inflection point in compliant mechanisms,a dynamic model of the compliant mechanismswith inflection point was established,and the kinetic equationswere deduced based on the Lagrange equation. The curves of the angle of rotation were obtained in MATLAB software and compared with the simulation results of ADAMS software. Results show that the rotation angle of thejoint at the inflection point varies significantly with the dynamic coupling between the rods. Thisreflects the difference between the dynamic model of the compliant mechanism with inflection point and the dynamic model of the compliant mechanism without inflection point. The dynamic model can reflect the complicated deformation and motion of the compliant mechanisms exactly. Key words:compliant mechanisms;pseudo鄄rigid鄄body model;inflection p