| 用冗余驱动方法进行柔性机构动力平衡的理论与试验研究 |
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| 引用本文： | 余跃庆,蒋斌.用冗余驱动方法进行柔性机构动力平衡的理论与试验研究[J].机械工程学报,2005,41(8):24-29. |
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| 作者姓名： | 余跃庆 蒋斌 |
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| 作者单位： | 北京工业大学机电学院,北京,100022;北京工业大学机电学院,北京,100022 |
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| 基金项目： | 国家自然科学基金资助项目(50375003) |
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| 摘 要： | 采用冗余驱动方法对柔性机构的动力平衡进行了研究。建立了具有冗余驱动的柔性连杆机构动力学模型，从理论上阐述了冗余驱动的平衡原理；给出了柔性机构最优平衡方法及其数值仿真结果；用附加冗余驱动电机的方法对一平面4R柔性连杆机构的动力平衡进行了试验研究，试验结果与理论分析吻合，充分表明了该方法的有效性和优越性。
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| 关 键 词： | 冗余驱动 柔性机构 动力平衡 |
| 修稿时间： | 2004年10月18 |
THEORETICAL AND EXPERIMENTAL STUDY ON THE DYNAMIC BALANCING OF FLEXIBLE MECHANISMS USING REDUNDANT DRIVES |
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| Yu Yueqing,Jiang Bin.THEORETICAL AND EXPERIMENTAL STUDY ON THE DYNAMIC BALANCING OF FLEXIBLE MECHANISMS USING REDUNDANT DRIVES[J].Chinese Journal of Mechanical Engineering,2005,41(8):24-29. |
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| Authors: | Yu Yueqing Jiang Bin |
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| Affiliation: | College of Mechanical Engineering and Applied Electronic Technology, Beijing University of Technology |
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| Abstract: | The dynamic balancing of flexible mechanisms is studied using redundant drives. The dynamic equation of the flexible mechanisms with redundant drives is developed at first. The optimum balancing of a flexible linkage is then obtained via additional actuator. The experimental study of a planar 4R linkage is presented finally. Both the numerical simulation and experimental result illustrate the effectiveness and advantages of the balancing method. |
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| Keywords: | Redundant drive Flexible mechanisms Dynamic balancing |
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