• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (8): 24-29.

• 论文 • 上一篇    下一篇

用冗余驱动方法进行柔性机构动力平衡的理论与试验研究

余跃庆;蒋斌   

  1. 北京工业大学机电学院
  • 发布日期:2005-08-15

THEORETICAL AND EXPERIMENTAL STUDY ON THE DYNAMIC BALANCING OF FLEXIBLE MECHANISMS USING REDUNDANT DRIVES

Yu Yueqing;Jiang Bin   

  1. College of Mechanical Engineering and Applied Electronic Technology, Beijing University of Technology
  • Published:2005-08-15

摘要: 采用冗余驱动方法对柔性机构的动力平衡进行了研究。建立了具有冗余驱动的柔性连杆机构动力学模型,从理论上阐述了冗余驱动的平衡原理;给出了柔性机构最优平衡方法及其数值仿真结果;用附加冗余驱动电机的方法对一平面4R柔性连杆机构的动力平衡进行了试验研究,试验结果与理论分析吻合,充分表明了该方法的有效性和优越性。

关键词: 动力平衡, 冗余驱动, 柔性机构

Abstract: The dynamic balancing of flexible mechanisms is studied using redundant drives. The dynamic equation of the flexible mechanisms with redundant drives is developed at first. The optimum balancing of a flexible linkage is then obtained via additional actuator. The experimental study of a planar 4R linkage is presented finally. Both the numerical simulation and experimental result illustrate the effectiveness and advantages of the balancing method.

Key words: Dynamic balancing, Flexible mechanisms, Redundant drive

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