在运动副摩擦阻力矩下,三连杆的驱动力矩计算
本帖最后由 dshy0818 于 2023-3-8 17:04 编辑三连杆结构,连杆铰接的运动副都有摩擦阻力矩,求三连杆中驱动杆的驱动力矩?
如下图,已知M1,M2,M3,求Md.
哪位大神知道如何算。
谢谢!
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
这个是手算还是用adams算? md=m1+m2+m3.摩擦力矩可以看作是力偶矩,力偶矩可以在平面内任意移动,这样就可以叠加了,我是这么理解的,不知道对不对 md=m1+m2+m3.摩擦力矩可以看作是力偶矩,力偶矩可以在平面内任意移动,这样就可以叠加了,我是这么理解的,不知道对不对
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