含拐点的柔顺机构动力学建模及分析

摘要

To analyze large deflection beams with inflection point in compliant mechanisms, a dynamic model of the compliant mechanisms with inflection point was established,and the kinetic equations were deduced based on the Lagrange equation. The curves of the angle of rotation were obtained in MATLAB software and compared with the simulation results of ADAMS software. Results show that the rotation angle of the joint at the inflection point varies significantly with the dynamic coupling between the rods. This reflects the difference between the dynamic model of the compliant mechanism with inflection point and the dynamic model of the compliant mechanism without inflection point. The dynamic model can reflect the complicated deformation and motion of the compliant mechanisms exactly.%为分析含拐点的大变形柔性梁的动态响应,建立含拐点的柔顺杆的动力学模型,基于拉格朗日方程推导其动力学方程组,在MATLAB软件中求解出其转角随时间变化的特性曲线,并与ADAMS软件仿真所得角位移曲线进行比较.研究表明:含拐点柔顺机构的拐点关节依靠各杆间的动力学耦合运动,拐点关节的转角变化很大,这体现了含拐点的柔顺机构动力学模型与不含拐点的柔顺机构动力学模型的区别,柔顺机构动力学模型能精确地反映柔顺机构的运动和变形.