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论文研究了一类含两个内部质量块的振动驱动系统在异性粘性摩擦下的平面运动,其中两个质量块在刚体内部相互垂直的水平槽道上作三相运动.利用第二类拉格朗日方程,建立了系统的动力学方程;其次,利用系统直线运动时的理论解,验证了速度Verlet积分法的可靠性;然后,利用这种数值方法分析了系统的平面运动,得到了内部驱动参数与系统运动轨迹、运动速度的关系;最后,通过调节内部驱动的周期比和相位,得到了系统轨迹在直线和圆弧间相互切换的六种平面运动形式.
In this paper, we study the planar motion of a vibrating drive system with two internal masses under anisotropic viscous friction, in which the two masses move in a three-phase motion on horizontal channels perpendicular to each other in the rigid body. Secondly, the reliability of velocity Verlet integral method is validated by using the theoretical solution of the linear motion of the system. Then, by using this numerical method, the planar motion of the system is analyzed and the internal drive Finally, by adjusting the period ratio and phase of the internal drive, six kinds of plane motion forms are obtained, in which the system trajectory switches between the straight line and the circular arc.