杆长和惯性参数可变的平面可调五杆机构的动力学解析模型

可调机构模型的建立是研究可调机构控制问题的前提。基于运动分析、凯恩动力学方程和数字-符号方法，首次建立了杆长和惯性参数可变的平面可调五杆机构的动力学解析模型。将动力学模型的推导问题转化为特定条件下运用运动学和动力学计算公式求解机构驱动力矩的问题。将广义坐标以及杆长和惯性参数作为符号量，导出了模型矩阵元素的数字-符号表达式。研制的软件可以应用于研究广义坐标、杆长和构件的惯性参数对驱动力矩的影响。在计算机上离线生成了机构的动力学模型，大大减少了在线计算量。给出的机构动力学仿真实例证明了此方法的有效性。

Analytical Dynamic Model for Planar Adjustable Five-bar Linkages of Alterable Length and Inertia of Linkages

The model for adjustable linkages is very important to the control of adjustable linkages. Analytical dynamic model for planar adjustable five-bar linkages, in which link lengths and the inertia parameters of links can be changed was established based on kinematic analysis, kane dynamic equation and numeric-symbolic approach, The problem of deriving dynamic model was transformed into the problem of solving driving moment tmder specified conditions by kinematic and dynamic formulae. Numeric-symbolic expressions of model matrix elements were derived, in which inertia parameters and lengths of links as well as generalized coordinates are expressed as symbols. Corresponding software was developed which can be used for the research of the effects of generalized coordinates, link lengths and the inertia parameters of links on driving torques, The dynamic model was generated off-line on computer, therefore on-line calculation was reduced gready, The examples of dynamic simulation showed that the method is effective.