【摘要】 为了分析水下扩展机构在不同驱动条件下的动态响应特性,建立水下扩展机构的运动学模型和动力学模型,并利用ADAMS进行动力学仿真,通过仿真得到水下扩展机构分别在恒速驱动和恒力驱动下扩展臂的运动参数动态响应曲线,以及机构组成杆件运动副处约束力随时间变化的曲线。结果表明:在恒速驱动下,机构运动时间较长,到位时,角速度较小的机构能快速稳定;在恒力驱动下,机构动作较平稳且运动时间短,但角加速度变化复杂,到位时角速度较大,到位后有振荡运动产生。研究结果可为后续驱动控制系统的设计提供理论基础,具有重要的工程实践价值。更多还原

【Abstract】 In order to analyze the dynamic response characteristics of underwater expansion mechanism under different driving conditions, a dynamic model and kinematic model of underwater expansion mechanism are established, and the dynamic simulation is carried out by using ADAMS. Through the simulation, the motion parameter dynamic responding curves of the expansion arm respectively under the constant speed drive and the constant force drive are gained, and the mechanism between rod interaction curves changing with time are gained. The result shows that under the speed drive, the motion of the mechanism is relatively stable. Under the force driving, the acceleration of the active arm is relatively unstable, but the force driving can guarantee the expansion mechanism to meet the minimum driving force condition. The study result provides a theoretical basis for the following design of the driving control system for underwater expansion mechanism, which has important engineering practical value.更多还原