机构系统关节约束反力分析

敬谦1,2 刘宏昭1 王庚祥1

振动与冲击 ›› 2019, Vol. 38 ›› Issue (8) : 161-165.

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PDF(1465 KB)
振动与冲击 ›› 2019, Vol. 38 ›› Issue (8) : 161-165.
论文

机构系统关节约束反力分析

  • 敬谦1,2  刘宏昭1  王庚祥1
作者信息 +

Analysis of the constraint reaction force in a mechanism system

  • JING Qian1,2,LIU Hongzhao1,WANG Gengxiang1
Author information +
文章历史 +

摘要

为了研究机构系统约束反力的计算方法,在考虑第一类拉格朗日方程中拉格朗日乘子与约束反力关系的基础上,明确了拉格朗日乘子项是广义约束力中各个约束所占的权重。通过拉格朗日增广法计算了机构系统中关节的反力,详述了每个关节对应关节反力的计算流程和筛选步骤。为了证明计算方法的正确性,利用牛顿欧拉法对所选研究对象的关节反力再次求解,并通过ADAMS仿真软件进行动力学仿真,将三种结果进行对比,验证了利用拉格朗日增广法计算机构对应关节反力时所用筛选方法的正确性。

Abstract

In order to investigate how to calculate the constraint reaction forces in a mechanism system, considering the relationship between reaction forces and Lagrange multipliers, it was determined that the Lagrange multipliers are the weight coefficient of the constraint reaction forces.In this paper, the reaction forces of the joints in the mechanism system were calculated by means of equation of motion.The specified computational method of the reaction forces corresponding to each joint in the mechanism system was described.The selected step of the Lagrange multipliers and calculated process of the reaction forces were illustrated especially.In order to prove the correctness of the method, the reaction forces of the joints from the same research object were calculated again by the Newton-Euler method, and then, the calculated results from above two methods were validated by ADAMS.The comparative analysis between above three different approaches was implemented, which verified that the correctness of the selected method calculated reaction forces in the joints based on the equation of motion.

关键词

关节反力 / 拉格朗日乘子 / 牛顿欧拉法

Key words

Reaction force / Lagrange multiplier / Newton-Euler method

引用本文

导出引用
敬谦1,2 刘宏昭1 王庚祥1. 机构系统关节约束反力分析[J]. 振动与冲击, 2019, 38(8): 161-165
JING Qian1,2,LIU Hongzhao1,WANG Gengxiang1. Analysis of the constraint reaction force in a mechanism system[J]. Journal of Vibration and Shock, 2019, 38(8): 161-165

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