新型汽车电泳涂装输送机构的动力学建模*

针对一种新型汽车电泳涂装输送机构，提出一种结合解析几何法、旋量理论与虚功原理建立机构动力学模型的方法。充分利用该机构的对称结构特点，通过解析几何的方法分析该机构中各被动关节的速度、加速度，再引入旋量理论得出该机构各主动关节的速度、加速度，在此基础上应用虚功原理建立该机构旋量形式的动力学方程，进而计算出可直接实现控制的机构各主动关节轴向驱动力。利用Matlab和ADAMS软件分别对所建立模型进行仿真，仿真结果的一致性表明了该动力学模型的可靠性。所提出的动力学建模方法可简化建模过程，其步骤清晰，易于程序化实现，其研究结果可为进一步实现该新型汽车电泳涂装输送机构的高性能控制及实际工程应用奠定基础。

Dynamic Modeling of a Novel Mechanism for Automobile Electro-coating Conveying

For the dynamic modeling of a novel mechanism for automobile electro-coating conveying, a method of combining screw theory, analytic geometry and the principle of virtual work is proposed. Based on the symmetrical structure of the mechanism, the velocity and acceleration solutions of each passive joint are derived via analytic geometry. The velocity and acceleration solutions of each active joint on the mechanism are obtained by screw theory. Based on the above, the dynamic equation with screw form is formulated by utilizing the principle of virtual work, and the driving forces which are used directly for the control of the active joints are derived. The simulations on the dynamic model are respectively conducted using Matlab and ADAMS. The simulation results show the reliability of the dynamic model. The proposed method has the advantages of easy computing, programming and control. The study may lay the groundwork for high performance control and practical application of the mechanism.