ДИНАМИЧЕСКИЙ АНАЛИЗ МЕХАНИЗМОВ С ИЗБЫТОЧНЫМИ СВЯЗЯМИ
МАШИНОВЕДЕНИЕ
Keywords:
dynamic analysis, redundant links, Lagrange equations, uncertain factors, jacobian.
Abstract
The problems of dynamic analysis of mechanisms with redundant links are considered. Based on the jacobian properties of the functions of the kinematic relations and the Lagrange equations of the first kind, a general method for dynamic modeling of mechanisms with redundant links applicable for mechanisms and handling systems of any structure is developed. Equations of motion are worked out on the basis of which algorithms for solving direct and inverse problems of dynamics of machines with redundant links are developed.
