基于冗余伺服电机法对含有外负载的刚性连杆机构的动力学平衡研究

The Dynamic Balance of the Rigid Linkage with External Load Based on the Redundant Servo Motor

摘要: 在刚性连杆机构承受外负载的情况下,采用冗余伺服电机法对机构进行动力学平衡分析。根据实际工作要求推导了连杆机构和伺服电机的动力学方程,通过一个实例,对连杆机构的动力学平衡特性进行了分析。验证了RSM法对含有外负载的刚性连杆机构动力学平衡的有效性,同时也对机构动平衡时所需要的理论输入转矩与伺服电机实际输出转矩的关系进行了对比研究。
- 外负载 /
- 连杆机构 /
- 冗余伺服电机 /
- 动力学 /
- 平衡
Abstract: Considering the external load,the Redundant Servo Motor(RSM) approach on dynamic balance of the rigid linkage is employed. According to the actual work requirements,the dynamic equations of the linkage and servo motor are derived. An example shows that the analysis of the dynamic balance characteristics of the linkage based on the RSM approach. The present results verify the effectiveness of the RSM approach on the dynamic balance of the rigid linkage with external load and a comparative study about the relationship between the theoretical input torque when the linkage dynamic balance and the actual output torque is presented.
- angular velocity /
- balance /
- calculations /
- dynamics /
- efficiency

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