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变胞机构全构态动力学模型及其数值仿真研究 被引量：19

Research on Configuration-complete Dynamics Modeling and Numerical Simulation of Metamorphic Mechanism
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摘要 依据Kane方程建立了变胞机构任意构态的动力学方程。引入广义速率的变换矩阵,建立了包含所有构态的变胞机构全构态动力学模型———一种组合式的微分/代数方程;全构态动力学模型用正交补阵的方法求解,根据变胞机构的特征,引入其构态切换条件;最后通过数值仿真算例说明该方法的应用。动力学仿真结果表明,变胞机构由一个构态向下一个构态切换的瞬时,机构将产生很大的冲击力。 Dynamics equations of metamorphic mechanism for arbitrary configuration are established according to Kane's equations. The configuration-complete dynamic modeling of metamorphic mechanism, a serial of differential/algebraical equations, is formed by introducing the transformation matrix of generalized speeds. The configuration-complete dynamic modeling includes all configurations of metamorphic mechanism. The configuration-complete dynamic modeling is solved by means of orthogonal complement array. The configuration-changing condition is proposed based on the characteristic of metamorphic mechanism. A numerical simulation illustration is shown to elucidate the application of this method. The dynamic simulation results show that the mechanism will be greatly impacted when the metamorphic mechanism is changed.
作者 金国光 丁希仑 张启先
机构地区 天津工业大学机电学院 北京航空航天大学机器人研究所
出处 《航空学报》 EI CAS CSCD 北大核心 2004年第4期401-405,共5页 Acta Aeronautica et Astronautica Sinica
基金 国家自然科学基金(编号:50075009)资助项目
关键词 变胞机构 构态 全构态 动力学 仿真 Arrays Computer simulation Differential equations Dynamics Matrix algebra Models
分类号 TH112 [机械工程—机械设计及理论]
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参考文献8

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共引文献69

同被引文献126

引证文献19

二级引证文献85

航空学报
2004年 第4期

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