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基于单开链单元应用牛顿欧拉法对平面并联气液动连杆机构进行了逆动力学分析。依据平面并联气液动连杆机构的拓扑结构特征,建立了与机构拓扑结构相统一的机构逆动力学分析模型,得到了维数恰等于机构耦合度的平面并联气液动连杆机构逆动力学方程。以一个3自由度平面并联气液动连杆机构为实例,给出了已知连杆运动规律下驱动力及运动副反力分析。
The inverse kinematics analysis of plane-parallel air-hydraulic linkage with Newton-Eulerian method based on single open-chain unit was carried out. According to the topological features of the planar parallel gas-liquid linkage, the inverse kinematics analysis model of the mechanism is established, which is consistent with the topology of the mechanism. The inverse kinematics of the planar parallel gas-liquid linkage is obtained when the dimension is equal to the coupling degree of the mechanism. Learn equations. Taking a 3-DOF planar parallel gas-liquid linkage as an example, the analysis of the driving force and the kinematic counter-reaction under the known movement of the connecting rod is given.