一种陀螺摆式球形驱动机构动力学模型分析

摘要

The spherical driving device called homogeneous counter pendulum is a combination of three components including two gimbals and a internal mechanism. The coordinate frame is present and the dynamics of the device is put forward using the constrained lagrangian method. The results of the dynamic equation show that the balancing position is free waving.%　　陀螺摆式球形驱动装置由转动轴相互正交的两个万向节和一个连杆-转子机构组成。建立了一种陀螺摆式球形驱动机构的坐标系，并利用拉格朗日方法建立其动力学模型。通过计算分析微分方程的解，可知该机构在平衡位置是自由振动的。