Impact Analysis Of General Planar Mechanism

This thesis has carried out some research on the collision of planar mechanisms.The properties of planar kinematic pairs in collision are studied and the dynamicequations of mechanisms are derived. This results in the dynamically determinabilityof general planar mechanism system in collision. A crank-rocker mechanismimpacted by a ball is analyzed, and finally, the thesis verifies the dynamic simulationby ADAMS.In regard to the problems about planar impact analysis method (such as Gaussianprinciple of least constraint method and continuous contact force based on penaltyfunction method), the thesis proposes to analyze the general planar mechanismcollision based on momentum theorem and recovery coefficient method.Firstly, the properties of the planar kinematic pair (high pair, revolute, slidingpair) in collision are analyzed, and the number of independent dynamic equations ofthe links in the mechanism are checked. The dynamically determinability of generalplanar mechanism system in collision is then concluded.After that, the thesisproposes a the general method of impact analysis of plane mechanism andsummarized the general dynamical equations of the mechanism in colission.Based on the conclusion of the collision analysis of general planar mechanisms,in both cases of non-friction and friction, the thesis analyzes a crank-rockermechanism impacted by ball. The thesis uses ADAMS to do the dynamicssimulation analysis of the collision model to verify the general applicability andaccuracy of the method.