Dynamics Modeling of the Crank-group Driving Mechanism with Clearance

Yan Weiliang; Cao Jujiang; Wang Yuqi; Wu Yao

doi:10.16578/j.issn.1004.2539.2015.12.015

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Dynamics Modeling of the Crank-group Driving Mechanism with Clearance

更新时间：2022-10-20

- Dynamics Modeling of the Crank-group Driving Mechanism with Clearance
- Vol. 39, Issue 12, Pages: 73-75(2015)
- 作者机构：
  
  1. 陕西科技大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.12.015
  CLC：
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[1]燕卫亮,曹巨江,汪玉琪,吴垚.含间隙曲柄群驱动机构的动力学建模[J].机械传动,2015,39(12):73-75.

Yan Weiliang, Cao Jujiang, Wang Yuqi, et al. Dynamics Modeling of the Crank-group Driving Mechanism with Clearance. [J]. 39(12):73-75(2015)
[1]燕卫亮,曹巨江,汪玉琪,吴垚.含间隙曲柄群驱动机构的动力学建模[J].机械传动,2015,39(12):73-75. DOI： 10.16578/j.issn.1004.2539.2015.12.015.

Yan Weiliang, Cao Jujiang, Wang Yuqi, et al. Dynamics Modeling of the Crank-group Driving Mechanism with Clearance. [J]. 39(12):73-75(2015) DOI： 10.16578/j.issn.1004.2539.2015.12.015.

摘要

曲柄群驱动机构是一种具有冗余特性的欠驱动机构,针对这种机构的特性,运动副间隙选用"连续接触模型",采用第二类拉格朗日方程,建立其基本结构单元——含间隙双曲柄机构的动力学模型。进而假设无质量杆指向桁架连杆的惯性力的方向,从单元到整体进行推导,建立起含间隙曲柄群驱动机构的动力学模型。

Abstract

The crank- group driving mechanism is a kind of under- actuated mechanism with redundant characteristics,aiming at the characteristics of mechanism,selecting continuous contact model for the joint clearance,the dynamics model of the basic structural unit- double crank mechanism with clearance is set up by the second kind Lagrange equation. Then,assume that the inertia force direction of no quality rod pointing to truss connecting rod,the derivation from the unit to the whole is carried out,and the dynamics model of the crank- group driving mechanism with clearance is established.

关键词

曲柄群机构动力学模型间隙

Keywords

Crank-group driving mechanismDynamics modelClearance

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