【摘要】 本文根据Lagrange运动方程建立了受约束机械系统的运动方程。由于系统是受约束的,这类运动方程通常是一组代数-微分方程。对于含有弹簧-阻尼器-动作缸组件,或者扭簧-阻尼器-动作缸组件的系统,文中载有这些组件合力的表达式。此外,本文还以铰链副为例说明了Lagrange乘子的物理意义及运动副约束反力的求取方法。最后给出了用程序DAP进行分析的实例。更多还原

【Abstract】 Motion equations for constrained mechanical systems were derived from Lagrange e-quation. Since mechanical systems are usually constrained, their motion equation will be a set of algebric-differential equations. The expressions for the resulting forces from spring-damper-actuator or torsional spring-damper-actuator elements were also presented in this paper. In addition, physical interperation of lagrange multipliers was explained and determination of constraint reaction forces was demonstated, taking revolute joint as an example. Finally, application results using DAP program were also given in the paper.更多还原