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.
Yu Yueqing,Xu Qiping.Dynamic Modeling and Characteristic Analysis of Compliant Mechanisms Based on PR Pseudo-rigid-body Model[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(3):225-229.
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柔顺机构PR伪刚体动力学建模与特性分析   [下载全文]
Dynamic Modeling and Characteristic Analysis of Compliant Mechanisms Based on PR Pseudo-rigid-body Model   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2013.03.041
中文关键词:  柔顺机构  PR伪刚体动力学模型  动力学特性
基金项目:国家自然科学基金资助项目(51175006)
作者单位
余跃庆 北京工业大学 
徐齐平 北京工业大学 
中文摘要:基于伪刚体模型,综合考虑柔性杆的横向变形和轴向变形的影响,建立了末端受力作用下柔顺机构的PR伪刚体动力学模型,应用拉格朗日方程推导了其动力学方程。从方程特征、响应曲线等方面显示了PR伪刚体动力学模型的性能变化。数值分析结果表明:PR伪刚体模型引入了P副来模拟柔性杆件的轴向运动,可以更真实地体现出柔顺机构的动力学特性,更适合于柔顺机构的动力学分析与设计。
Yu Yueqing  Xu Qiping
Beijing University of Technology;Beijing University of Technology
Key Words:Compliant mechanism  PR pseudo-rigid-body dynamic model  Dynamic characteristic
Abstract:Based on the pseudo-rigid-body model (PRBM), a PR pseudo-rigid-body dynamic model (PRBDM) subjected to a force at the end was developed considering the effects of transverse deformation and axial deformation of flexible elements in compliant mechanisms comprehensively. The dynamic equation of the PR PRBDM was derived by using the Lagrange equation. The changes of performances of the PR PRBDM were showed in the equation feature and dynamic responses. The numerical analysis results indicate that the PR PRBDM proposed can be used to show the real dynamic characteristic of compliant mechanisms by introducing a prismatic pair to simulate the axial movement of flexible elements in compliant mechanisms and was suitable for the dynamics analysis and design of compliant mechanisms.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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