МАТЕМАТИЧЕСКАЯ МОДЕЛЬ ГИДРОПРИВОДА ВЗАИМНОГО ПОВОРОТА ЗВЕНЬЕВ ИСПОЛНИТЕЛЬНОГО МЕХАНИЗМА (original) (raw)

МАТЕМАТИЧЕСКАЯ МОДЕЛЬ ГИДРОПРИВОДА ВЗАИМНОГО ПОВОРОТА ЗВЕНЬЕВ ИСПОЛНИТЕЛЬНОГО МЕХАНИЗМА

2014

Abstract

The interaction between the mechanism links related by rotational pair and elements of hydraulic actuator is considered. Expressions are obtained for the generalized driving force attributed to relative rotation angle and for the analogs of rod displacement and rod velocity related them with the angle and angular velocity of links relative rotation. The vector-matrix form of these expressions facilitates there using in algorithms of automatic formation multilink mechanism dynamics equations. In the mathematical model of hydraulic subsystem balance equations of working fl uid fl ow in view of its volume compression are used. Each one of them gives one fi rst order differential equation for each chamber of the actuator. The results of the numerical implementation of the proposed description are presented for planar three-link mechanism driven by three valve-controlled hydraulic cylinders.

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