机械

混合驱动机构采用双电机驱动,为避免共振确定机构的固有频率是必须的。应用MSC.ADAMS软件,通过一个实例,针对弹性五杆机构建立机构多体系统模型,进行了动力学分析,并在所建模型基础上提出了一种系统固有频率的计算方法,能够快速求解出柔性体模型振动的固有频率及相应振型,通过利用MSC.ADAMS/Vibration模块频域分析工具分析其动态响应特性,仿真结论证实在远低于系统固有频率的转速下机构也可能发生低阶谐振现象,两个电机转速及转向的选择对系统响应是重要的,因此在机构设计中要对系统进行动态响应分析以避免此现象发生。

Hybrid driven mechanism are droved by double motor, it is necessary for avoiding the resonant to determination of the natural frequencies. For an example, aimed at five-bar linkage, the flexible multi-body model was established and dynamics analysis was carried out by using MSC.ADAMS. A calculating method of system inherent frequency is applied to rapidly acquire modal vibration and inherent frequency. Dynamic response on the flexible model is analyzed by corresponding tool of MSC.ADAMS/Vibration module. The conclusion of simulation showed that Sub harmonic Resonance Phenomenon is confirmed to appear under low rotational speed condition. The choice of motor's direction and speed is important to the system response. Therefore this phenomenon must be avoided to occurrence in mechanism design.