关键词: 输送机构, 虚功原理, 旋量理论, 动力学模型

Abstract: For the dynamic modeling of a novel mechanism for automobile electro-coating conveying, a method of combining screw theory, analytic geometry and the principle of virtual work is proposed. Based on the symmetrical structure of the mechanism, the velocity and acceleration solutions of each passive joint are derived via analytic geometry. The velocity and acceleration solutions of each active joint on the mechanism are obtained by screw theory. Based on the above, the dynamic equation with screw form is formulated by utilizing the principle of virtual work, and the driving forces which are used directly for the control of the active joints are derived. The simulations on the dynamic model are respectively conducted using Matlab and ADAMS. The simulation results show the reliability of the dynamic model. The proposed method has the advantages of easy computing, programming and control. The study may lay the groundwork for high performance control and practical application of the mechanism.

Key words: conveying mechanism, principle of virtual work, screw theory, dynamic model