一种机械系统动力学响应分析方法

 为了动力学响应分析的通用性及简便性,提出一种新的动力学响应分析方法.将机械系统分解成有序单开链单元,按其正序首先在约束度小于0的单元进行虚拟赋值,然后在其他单元依次进行运动分析,最后可得到维数最低的运动学方程.基于虚功原理导出动力学响应方程通式,对广义速度与广义加速度特殊赋值后通过序单开链法可求出响应方程的各系数,从而确定动力学响应方程.该动力学响应方程的维数等于机械系统自由度,形式简洁,便于求解,平面三自由度并联机构的实例表明了该方法的有效性.

New dynamic analysis method for mechanism

A new dynamic analysis method is proposed for increasing the universality and simplicity of dynamic response analysis. Mechanisms were decomposed into a series of ordered-SOCs(single opened chains). According to their forward order, firstly put imaginary inputs to the SOCs whose constraint factor is below zero, and then the kinematic equations with minimum dimension can be obtained after performing kinematic analysis on other ordered-SOCs. The universal dynamic analysis equations were deduced based on the principle of virtual work. Given the special value of generalized velocity and generalized acceleration, all the coefficients of the equations can be computed using the ordered-SOCs method, therefore the dynamic analysis equations can been acquired. The dynamic analysis equations are compact, and their dimensions are equal to the freedom degree of the mechanism. The numerical example of a 3-degree of freedom planar parallel mechanism has demonstrated its efficiency.