基于弹性杆的符合机制的elasto-kinematics和即时不变量
Christian Iandiorio1, Pietro Salvini1
1Department of Enterprise Engineering, University of Rome "Tor Vergata", Via del Politecnico 1, 00133 Rome, Italy.
Micromachines
|July 8, 2023
概括
使用刚性模型合成合规机制是不够的. 这项研究揭示了曲链行为是负载路径依赖的,而不是保守的,影响动力合成.
科学领域:
- 机械工程 机械工程
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
背景情况:
- 合规机制的动力合成通常使用简化的刚性模型.
- 这些模型用同等的刚性条和块链取代曲链.
- 这种简化忽略了曲链的关键弹性运动行为.
研究的目的:
- 为了研究曲链的弹性动力学和瞬时不变量.
- 开发和利用一个非线性模型来预测曲链行为.
- 分析瞬时不变量的负载路径依赖性.
主要方法:
- 开发了一个非线性模型来预测曲链的行为.
- 导出并解决了常切曲链的非线性几何反应的微分方程.
- 分析描述了瞬间旋转中心 (c.i.r.) 和曲折圆的演化. 曲折圆的演化.
- 为发现提供了分析和数值证据.
主要成果:
- 即时旋转的中心 (c.i.r.) 进化是取决于加载路径,而不是保守的.
- 即时的几何不变数也取决于加载路径.
- 立即几何不变的假设是独立于运动时间定律是无效的.
结论:
- 固体动力学合成对于符合规则的机制是不够的.
- 准确的动力学合成需要考虑应用负载及其历史.
- 非线性elasto-kinematic分析对于可靠的符合机制设计至关重要.
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