In this paper,a dynamic model for 3-RRRT parallel manipulators is set up based on the d Alembert principle and the force reduction method.
基于達(dá)朗伯原理和等效力方法建立了3-RRRT型并聯(lián)機(jī)器人的動(dòng)力學(xué)模型,得出其正向動(dòng)力學(xué)與反向動(dòng)力學(xué)方程,并給出反向動(dòng)力學(xué)的MATLAB數(shù)值仿真。
Layout design method based on D Alembert principle is proposed in this paper,trying to solve the system vibration problem caused by moving-mass,as well as system coupling problem caused by principal axis misalignment.
針對滑塊運(yùn)動(dòng)容易引起系統(tǒng)抖動(dòng),以及慣性主軸偏移引起系統(tǒng)耦合嚴(yán)重等問題,基于達(dá)朗伯原理對變質(zhì)心飛行器結(jié)構(gòu)布局進(jìn)行了設(shè)計(jì)。
The certain solution to the free transverse vibration caused by an initial condition in a symmetrical,soft and light string with infinite length is worked out,thus a more satisfactory physics interpretation of the Alembert formula is presented.
從最基本的物理現(xiàn)象入手,考慮到真實(shí)的物理過程,從另一個(gè)角度來探求一根無限長的均質(zhì)柔軟輕弦在初始條件作用下所引起的自由橫向振動(dòng)在弦中傳播的定解問題的解,從而對達(dá)朗伯公式作出一個(gè)比較圓滿的物理解釋。
D′Alembert method application to system of changing mass;
達(dá)朗伯方法對變質(zhì)量系的應(yīng)用