变胞机构全构态动力学模型及其数值仿真研究

 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。

Research on Configuration-complete Dynamics Modeling and Numerical Simulation of Metamorphic Mechanism

Dynamics equations of metamorphic mechanism for an arbitrary configuration are established according to Kane's equations. Hence, the configuration-complete dynamic modeling of metamorphic mechanism, a serial of diferential/algebraical equations, is formed by introducing the transformation matrix of generalized speeds. The configuration-complete dynamic modeling includes all configurations of metamorphic mechanism. And 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. Finally, 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 changes from a configuration to another.