陈嘉伟五连杆机构动力学分析

五连杆机构动力学分析小组成员：高冠群王瑛珺吴博文陈博新陈家伟姚文岳目录CONTENTS工程应用动力学分析存在的问题仿真12341.工程应用2.动力学分析各个杆件长度为：l1l2l3l4l5(机架杆)质量：m1m2m3m4质心位置：ls1ls2ls3ls4由图得:54433221144332211coscoscoscossinsinsinsinlllllllll2.动力学分析对上式求导得：），（），（其中413341l-l-llGl-l-llFllllllll2244433322211143214443332221114321444333222111444333222111sinsinsinsin),,,(coscoscoscos),,,(sinsinsinsincoscoscoscos2.动力学分析得：)sin()sin()sin()sin()sin()sin()sin()sin(324234322131324324323121ll-ll-ll-ll-431342122.动力学分析4s433344344543344532211211122112111sinsinsincoscoscos43sinsincoscoscossin21lYllYllXlllXllYlYllXlXsssssssssssssss的质心坐标：构件的质心坐标：构件的质心坐标：构件的质心坐标：构件q1（1）q2(4)J110m10J2m2J3m3J401m401242)(coscos)(sinsin122211122211ssllll422422cossinssll1343133133cossinssll)(coscos)(sinsin433344433344ssllll1sl4sl2.动力学分析22222244414124221212422121214122421222242124212212133213332122212221122122211212111)()()()](coscos[)](sinsin[coscossinsin))(())((coscossinsin))(())(())(())(()()()()](coscos[)](sinsin[422422s24334333s443433344344s4443343s433343s43332333s3sss22s24sss1JlmJllmllmJlmJllmllmJlmllmllmJlmJlmJJlmJllmllmJlmJ2.动力学分析41221444112414441441421111414111121)21()21(2114444441411144211JJJJJJQJJJJJJQ得：带入两自由度拉氏方程3.仿真3.仿真4.存在的问题（1）由于杆的质量不一定是均匀的，所以质心的位置未必处于中心位置（2）存在耦合现象小组成员分工王瑛珺：方案选择动力学分析仿真分析PPT制作高冠群：方案选择动力学分析PPT制作姚文岳：PPT制作与整理PPT讲解吴博文、陈嘉伟、陈博新：PPT制作与整理