Kinematics and dynamics solution method of underactuated mechanism with flexible kinematic pairs

A technique of dynamic equations and kinematics, applied in the field of numerical iteration
CN106446481BInactive Publication Date: 2019-06-07HEBEI UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HEBEI UNIV OF TECH
Publication Date
2019-06-07
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a kinematics and dynamics solving iterative algorithm of an underactuated mechanism with a flexible kinematic pair. The algorithm includes the following steps: 1) establishing a coordinate system of the mechanism; 2) defining mechanism parameters, establishing a kinematic model and a dynamic model of the underactuated mechanism, and obtaining a kinematic position equation, a kinematic speed equation, a kinematic accelerated velocity equation and a dynamic equation of the mechanism; 3) giving initial condition of each component and a motion law of an original dynamic object, solving the kinematic equations and the dynamic equation of the mechanism at the time of t0, and obtaining the motion law of each component and the driving force of the original dynamic object at t0; 4) solving the kinematic equations and the dynamic equation of the mechanism at the time of tj, and obtaining the motion law of each component and the driving force of the original dynamic object at tj; 5) repeating the step 4 for n times so as to obtain the motion law of all components of the mechanism and the driving force of the original dynamic object in a whole motion cycle, drawing point by point by MATLAB, and obtaining motion raw curve of each component and a driving force change curve of the original dynamic object.
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Description

technical field

[0001] The invention relates to a numerical iteration method, in particular to a method for solving kinematics and dynamics equations of an underactuated mechanism with flexible motion pairs. Background technique

[0002] The underactuated mechanism has the advantages of low energy consumption, light weight, and low cost due to the reduction of the driver, but its kinematics and dynamics constraints are incomplete, and the movement of the mechanism is uncertain. In the underactuated mechanism with flexible kinematic pairs , the elastic reaction force of the flexible kinematic pair can play the role of driving force, which can make up for the incompleteness of the dynamic constraints of the underactuated mechanism to a certain extent, but the addition of the flexible kinematic pair also makes the kinematics and dynamics of the mechanism more complicated. It is difficult to solve, but the solution of the kinematics and dynamic equations of the mechanism is the ...

Claims

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