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机构的动力分析,即计算机构在已知力系作用下的真实运动,通常都较为繁难,其关键是如何建立系统的运动微分方程,即计算机构在已知力系作用下的加速度。本文介绍机构的类速度和类加速度及其计算方法,并运用其推导出了机构等效转动惯量J及其关于φ的偏导数J_φ和等效力矩M的计算公式,避免了用差分法近似计算J_φ,可计算出机构在已知力系作用下加速度的精确值,从而得到机构动力分析的运动微分方程。
The dynamic analysis of the mechanism, that is, the real movement of the calculation mechanism under the known force, is usually more complicated. The key point is how to set up the system of differential equations of motion, that is, the acceleration of the mechanism under the known force. In this paper, the class velocity and acceleration of the mechanism and its calculation method are introduced, and the formula for calculating the equivalent moment of inertia J and its partial derivative J_φ and equivalent moment M of φ is deduced. It avoids the approximate calculation by difference method J_φ, the exact value of the acceleration of the mechanism under the known force can be calculated to obtain the differential equation of motion of the mechanism dynamic analysis.