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万向联轴器用于联接相交成一定角度的传动轴。图1所示的是单万向联轴器,将主动轴1和从动轴2联接起来。图2所示的是两个单万向联轴器将主动轴1和从动轴3联接起来。主动轴1和从动轴3的轴心线是平行线.主动轴1与中间轴2所夹的锐角为β;中间轴2与从动轴3所夹的锐角亦为β。再参看图1,当β=0°时,主动轴1的轴心线与从动轴2的轴心线的延长线是重合的。要了解万向联轴器的动力学特性,首先要按主动轴的角位移、角速度和角加速度求出从动轴的角位移、角速度和角加速度。设γ_1表示主动轴的角位移,γ_2表示轴2的角位移,ω_1表示主动轴的角
Universal coupling is used to connect the drive shaft intersecting at an angle. Figure 1 shows a single universal coupling, the drive shaft 1 and the driven shaft 2 together. Figure 2 shows the two single universal coupling the drive shaft 1 and the driven shaft 3 together. The axes of the driving shaft 1 and the driven shaft 3 are parallel to each other, and the acute angle between the driving shaft 1 and the driving shaft 3 is β; the acute angle between the driving shaft 3 and the driven shaft 3 is also β. Referring again to FIG. 1, when β = 0 °, the axis of the drive shaft 1 coincides with the extension of the axis of the driven shaft 2. To understand the dynamic characteristics of universal coupling, we must first determine the angular displacement, angular velocity and angular acceleration of the driven shaft according to the angular displacement of the driving shaft, angular velocity and angular acceleration. Let γ_1 denote the angular displacement of the driving shaft, γ_2 denote the angular displacement of the shaft 2, ω_1 denote the angle of the driving shaft