单自由度平面连杆机构等效转动惯量计算公式

在平面连杆系统动力分析及仿真中，需要对平面连杆机构系统建立等效的动力学模型，其中等效转动惯量是一个很重要的量，因此建立平面连杆机构等效转动惯量的解析计算公式是非常必要的。在系统动能相等的条件下，以质点系动能和刚体绕质心转动动能为基础，引入多余坐标，通过平面连杆机构的非线性稳定的几何约束消去多余速度，导出了以原动件的位移为广义坐标和其他构件的位移为多余坐标表示的等效转动惯量的计算公式，并以一个实例来说明等效转动惯量公式的使用，为平面连杆机构的过渡过程动态仿真提供了理论基础。

A calculation method of equivalent moment of inertia for one- DOF planar linkage

The quivalent moment of inertia is the key to obtain the equivalent dynamic model of a planar linkage in the dynamic analysis. Based on the law of conservation of kinetic energy, an analytical formula is proposed to calculate the equivalent moment of inertia of the whole system. The angular displacement of the driving link is taken as the generalized coordinate and the displacements of other links are taken as redundant (coordinates.)The overall kinetic energy of the system can be obtained using the differentials of the generalized (coordinate) and the redundant coordinates which may be eliminated through the nonlinear stable geometric constraints. A crank-slider linkage is employed to verify the effectiveness of the suggested formula. The theoretical basis is offered for dynamic simulation of planar linkage in a transitional period.