Analysis of Free Giant Swing Motions of a 2-DOF Link Mechanism.
Analysis of Free Giant Swing Motions of a 2-DOF Link Mechanism.
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二自由度连杆机构的自由大摆动运动分析。
DOI：
10.1299/kikaic.66.1102
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
K. Ono
中科院分区：
文献类型：
--
作者：
Atsushi Imadu;Koji Yamamoto;K. Ono
本文研究了由最优轨迹规划法和正动力学分析导出的三种二自由度连杆机构自由巨摆运动的结构。通过对线性化动力学方程的模态分析，得出了零重力作用下的三种巨摆运动分别为刚体模态旋转、振动模态的正、负叠加。由于振型的频率随振型幅值的增大而减小，在两振型同步幅值处实现了自由的巨摆运动。根据连杆参数的不同，可以存在奇数个以上的周期运动。运动形态在重力作用下发生变形，两种类型的巨摆运动随着运动周期的增加而坍缩。
This paper investigates the structure of three types of free giant swing motions for a 2-dof link mechanism that were derived by both an optimum trajectory planning method and a forward dynamics analysis. Based on the modal analysis to the linearized dynamic equation of motion, we showed that three giant swing motions under zero gravity force are the rigid mode rotation, positive and negative superposition of the vibration mode on it. Since the frequency of the vibration mode decrease with increase in the amplitude of the vibration mode, free giant swing motions are realized at the amplitude at which two modes synchronize. There can exist odd number of periodic motions more than three depending on link parameters. The motion shapes are deformed by gravitational force, and two types of giant swing motions collapse as the motion period increases.