| 复杂平面连杆机构耦合动力学的回转键合图法 |
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| 引用本文： | 王中双,陆念力.复杂平面连杆机构耦合动力学的回转键合图法[J].南京理工大学学报(自然科学版),2005,29(6):653-657,661. |
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| 作者姓名： | 王中双 陆念力 |
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| 作者单位： | 哈尔滨工业大学,机电工程学院,黑龙江,哈尔滨,150001;哈尔滨工业大学,机电工程学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 黑龙江省自然科学基金（E200523） |
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| 摘 要： | 为提高多能域耦合复杂平面连杆机构系统动力学分析的效率及可靠性，提出了回转键合图法。阐述了建立多种能域相互耦合的复杂平面连杆机构系统键合图模型的一般方法，推导出便于计算机自动生成的完整形式的系统状态方程及运动副约束反力的统一计算公式，有效地克服了非线性几何约束及微分因果关系所带来的十分困难的代数问题，实现了计算机自动建模及仿真。实际算例表明了所述方法的有效性。
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| 关 键 词： | 耦合动力学 动态仿真 回转键合图 复杂平面连杆机构 |
| 文章编号： | 1005-9830（2005）06-0653-05 |
| 收稿时间： | 2004-09-21 |
| 修稿时间： | 2004-09-212005-10-18 |
Gyrobondgraphic Method for the Coupling Dynamics of Complex Planar Linkage |
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| WANG Zhong-shuang,LU Nian-li.Gyrobondgraphic Method for the Coupling Dynamics of Complex Planar Linkage[J].Journal of Nanjing University of Science and Technology(Nature Science),2005,29(6):653-657,661. |
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| Authors: | WANG Zhong-shuang LU Nian-li |
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| Institution: | School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | In order to increase the efficiency and reliability of the dynamic analysis for the complex planar linkage containing the coupling of multi-energy domains, a method based on gyrobondgraph is introduced. The general procedure to model complex planar linkage by bond graphs which include the coupling of multi-energy domains is proposed. The unified formulae of system state space equations and constraint forces at joints are derived, which is easily generated on a computer in a complete form. As a result, the very difficult algebraic problem brought up by differential causality and nonlinear geometric constraints in formulating the unified formulae of system state space equations and constraint force equations can be overcome, and the automatic modeling and simulation on a computer is realized. By a practical example, the validity of this procedure is illustrated. |
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| Keywords: | coupling dynamics dynamic simulation gymbondgraphs complex planar linkage |
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