| 拉格朗日方程平面展开式在机构动力学中的应用 |
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| 引用本文： | 刁彦飞,魏洪兴,杨恩霞. 拉格朗日方程平面展开式在机构动力学中的应用[J]. 哈尔滨工程大学学报, 1999, 20(3): 91-96 |
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| 作者姓名： | 刁彦飞 魏洪兴 杨恩霞 |
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| 作者单位： | 哈尔滨工程大学机电学院黑龙江哈尔滨 150001 |
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| 摘 要： | 针对利用拉格朗日方程建立平面机构动力学方程的问题，进行了新的探讨和分析，首先对多构件多自由度系统的动能提出了新的表达形式，在此研究过程中，引出了类速度，类角速度，慢性系数等重要概念，而后在此基础上推导出了拉格朗日方程平面展开式，最后做为一个实例，用拉格朗日方程展开式建立了开式链二杆机构的运动方程，本文所谈到的内容，可供深入研究拉格朗日方程及对平面机构多自由度系统和平面开式链机器人的动力学研究，提出
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| 关 键 词： | 拉格朗日方程 类速度 类角速度 惯性系数 运动方程 |
| 文章编号： | 1006-7043(1999)03-0091-06 |
| 修稿时间： | 1998-12-21 |
The Application of Plane Unfolding Formula of Lagrange Equation in Mechanism Dynamics |
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| DIAO Yan_fei,WEI Hong_xing,YANG En_xia. The Application of Plane Unfolding Formula of Lagrange Equation in Mechanism Dynamics[J]. Journal of Harbin Engineering University, 1999, 20(3): 91-96 |
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| Authors: | DIAO Yan_fei WEI Hong_xing YANG En_xia |
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| Abstract: | The problem of establishing dynamics equation of plane mechanism according to Lagrange equation is discussed and analysed in this paper.At first,a new formulation of kinetic energy of multi-component and multi-DOF system is put forward.The concepts of similarv elocity,similar angular velocity and inertial coefficient are drawn out,from which the plane unfolding formula of Lagrange equation is deduced.At last,a kinetic equation of the open-chain two-bar mechanism is established in the form of the plane unfolding formula of Lagrange equation.This paper can act as a reference for the research of Lagrange equation,plane multi-DOF mechanism system and plane open-chain robot-dynamics. |
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| Keywords: | Langrange equation similar-velocity similar-angular-velocity inertial coeffcient |
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