模拟固定-导向柔顺梁的PRR伪刚体模型的动力学分析
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摘要
基于PRR伪刚体模型,建立了末端受复合载荷作用下固定-导向柔顺梁的PRR伪刚体动力学模型。以柔顺机构中柔顺杆为研究对象,通过分析其动能和势能,应用拉格朗日方程推导出了该模型的动力学方程,并从方程特征和响应曲线等方面分析了模型各项动力学特性。分析结果表明,PRR伪刚体动力学模型可以更加真实地反映出固定-导向柔顺梁在变形过程中的各项动力学特性,更加适用于柔顺机构的动力学分析与设计。
Based on the PRR pseudo-rigid-body model,a PRR pseudo-rigid-body dynamics model subjected to a composite load at the end of compliant mechanism is established. Take supple rod of compliant mechanisms as the research object,the dynamic equation of the PRR pseudo-rigid-body model is derived by using the Lagrange equation,through the analysis of the kinetic energy and potential energy,and analyzes the dynamics of the model from the equation feature and the dynamic responses. Analysis results show that the PRR pseudo-rigid-body dynamics model simulating fixed-guide compliant beam can be more realistic to reflect the dynamic characteristics of the flexible rod in the course of the deformation process and it is more suitable for dynamic analysis and design of compliant mechanisms.
Based on the PRR pseudo-rigid-body model,a PRR pseudo-rigid-body dynamics model subjected to a composite load at the end of compliant mechanism is established. Take supple rod of compliant mechanisms as the research object,the dynamic equation of the PRR pseudo-rigid-body model is derived by using the Lagrange equation,through the analysis of the kinetic energy and potential energy,and analyzes the dynamics of the model from the equation feature and the dynamic responses. Analysis results show that the PRR pseudo-rigid-body dynamics model simulating fixed-guide compliant beam can be more realistic to reflect the dynamic characteristics of the flexible rod in the course of the deformation process and it is more suitable for dynamic analysis and design of compliant mechanisms.
引文
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[2]张连杰,刘善增,朱真才.柔顺机构的研究进展[J].组合机床与自动化加工技术,2011(7):108-112.
[3]HOWELL L L.Compliant mechanisms[M].New York:John Wiley&Sons,2001:1-15.
[4]冯忠磊,余跃庆,王雯静.模拟柔顺机构中柔顺杆件末端特征的2R伪刚体模型[J].机械工程学报,2011,47(1):36-42.
[5]余跃庆,周鹏.柔顺机构PR伪刚体模型[J].北京工业大学学报,2013,39(5):641-647.
[6]余跃庆,徐齐平,周鹏.复合载荷作用下柔顺机构的PR伪刚体新模型[J].机械工程学报,2013,49(15):9-14.
[7]路建鹏,薄瑞峰,孙楷,等.柔顺机构PRR伪刚体模型的研究[J].机械设计与制造,2016(4):114-117.
[8]LI Z,KOTA S.Dynamic analysis of compliant mechanisms[C]//Proceedings of ASME 2002 Design Engineering Technical Conferences,DETC2002 MECH-34205,2002,5:43-50.
[9]BOYLE C,HOWELL L L,MAGLEBY S P,et al.Dynamic modeling of compliant constant-force compression mechanisms[J].Mechanism and Machine Theory,2003,38(12):1469-1487.
[10]李茜,余跃庆,常星.基于2R伪刚体模型的柔顺机构动力学建模及特性分析[J].机械工程学报,2010,46(10):148-156.
[11]余跃庆,徐齐平.柔顺机构PR伪刚体动力学建模与特性分析[J].农业机械学报,2013,44(3):225-229.
[12]路建鹏.带轴向变形的柔顺机构多自由度伪刚体模型研究[D].太原:中北大学,2016.
[13]王华伟,余跃庆,苏丽颖,等.柔顺机构动力学建模新方法[J].机械工程学报,2008,44(10):96-103.