基于冗余伺服电机法的弹性连杆机构的平衡

摘要

The Redundant Servo Motor （RSM） Approach is applied to the dynamic balance of elastic linkage mechanism. The principle of RSM is that the real-time variable speed of motor may be redundant to kinematic mo- tion generation of a mechanism and utilized for the purpose of dynamic balance of mechanism. The RSM procedure ~＇s applied to a four-bar elastic linkage （as an example）. Its elastic dynamic optimization model is established and the balance principle of the present approach is illustrated. Five kinds of motion have been carried on the optimiza- lion model. The simulation result has shown the effectivity on the balance of shaking force and shaking moment and also a great promise by comparing it with the approach which adds an extra servomotor in the mechanism.%冗余伺服电机法（redundantservomotor）对机构进行动力学平衡的本质是伺服电机的转速可以实时改变，这对于机构的运动学性能来说可能是冗余的，但却可以用来改善机构的动力学性能。本文中讨论了将冗余伺服电机法应用于弹性连杆机构的动力学平衡中，并以一个平面弹性四杆机构为例，建立了其弹性动力学平衡优化模型，阐明了该方法的平衡原理，以5种运动规律对此机构进行了优化。优化结果表明，该方法对弹性连杆机构的震动力和震动力矩的平衡效果较好，与在机构上附加一个额外驱动器的方法相比，该方法更显优越。