| 任意平面机构运动、动力分析的一种新方法（一）─—结构单元的划分及其运动、动力分析模型 |
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| 引用本文： | 孔宪文,杨廷力. 任意平面机构运动、动力分析的一种新方法（一）─—结构单元的划分及其运动、动力分析模型[J]. 机械科学与技术, 1995, 0(1) |
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| 作者姓名： | 孔宪文 杨廷力 |
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| 作者单位： | 南京东南大学，南京金陵石化公司 |
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| 摘 要： | 基于平面机构结构理论研究的单开链法与空间机器人机构运动分析与动力分析的影响系数法，本文连同其第二部分提出了一般平面闭链机构运动分析与动力分析的一种新方法，该方法以结构因子为零的单开链作为机构结构单元，建立运动学、动力学方程。其主要特点是：所需求解的非线性位置分析方程组程组维数最低、便于求解；动力分析与运动分析过程相统一，反映了运动分析、动力分析过程的内在联系。本文作为新方法的第一部分，主要讨论平面机构结构单元的划分及机构结构单元运动分析、动力分析模型的建立。
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| 关 键 词： | 平面机构，运动分析，动力分析 |
A New Approach to the Kinematic and Dynamic Analysis of General Planar Linkages:PartⅠ Decomposition of mechanisms and kinematic and dynamic modeling of eomponents |
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| Kong Xianwen,Yang Tingli. A New Approach to the Kinematic and Dynamic Analysis of General Planar Linkages:PartⅠ Decomposition of mechanisms and kinematic and dynamic modeling of eomponents[J]. Mechanical Science and Technology for Aerospace Engineering, 1995, 0(1) |
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| Authors: | Kong Xianwen Yang Tingli |
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| Affiliation: | Kong Xianwen;Yang Tingli |
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| Abstract: | This paper prasents a new method for the kinematic and dynamic analysis of general ptanar link-ages;with SOCC(i.e,Single-opened-chains with structural characters equal to zero) servins as the com-ponents of planar linkages,the proposed approach poasesses the following characteristics:(a) the set of non-linear eouation needed to be soved for a linkage contains the fewest unknowns.(b)the kinematic analysis and dynamic analysis are conducted systematical and the relation between the kinematic and bynamic analy-sis is revealed. As Part Ⅰ of the new approach , this pepor deals with the decomposition of the mechanisms and the fomulation of the kinematic and dynamic modeling of the components. |
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| Keywords: | Planar linkages Kinematic analysis Dynamic analysis. |
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