平面连杆机构等效力矩和转动惯量数学模型

针对单自由度平面连杆机构等效动力学模型——等效力矩和等效转动惯量表达式的推导，将平面连杆机构看作质点系和平面刚体系所组成的混合系统．以等效前后虚功相等推导出平面连杆机构等效力矩普遍表达式，以等效前后动能相等推导出平面连杆机构等效转动惯量普遍表达式，并以一个平面六杆机构为例，说明该等效力矩普遍表达式和等效转动惯量普遍表达式的使用情况．证明了该方法简沽、方便，同时具有一定的普遍性．

Mathematical model for equivalent moment and moment of inertia of a planar linkage

In order to derive expressions of equivalent moment of inertia and equivalent moment of a single-degree-of-freedom planar linkage,the planar linkage can be treated as a hybrid system composed of a particle system and a planar rigid-body system.The general expression for the equivalent moment of a planar linkage was then developed,based on the principle that the virtual work was unchanged whether it was a planar linkage or a simplified hybrid system.The general expression for equivalent moment of inertia was derived using this principle of equivalent kinetic work.The application of these expressions was illustrated by a planar six-bar mechanism,thereby proving the efficiency and universality of this method.