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中文摘要：
将系统中的摩擦力视为外加非保守力，提出了包含摩擦的Kane方程。建立了机构运动副摩擦的数学模型，将关节接触面间的作用力转化为理想约束力与摩擦力矩。运动分析和系统受力分析得到混合输入机构系统的主动力、惯性力和摩擦力及各自相应的转移矩阵，应用Kane方法建立了考虑运动副摩擦的混合驱动五杆机构动力学方程，并给出了该动力学模型的解算方法。逆动力学计算结果证明本方法是正确的，仿真计算结果表明，运动副摩擦对混合输入机构运动的影响显著。
英文摘要：
The friction was treated as a special non-inertia force, and a mended Kane equation with the friction of the system considered was put forward. The mathematics model of joint friction in a mechanical system was presented,in which the action forces in the joint were converted into ideal constraint force and friction moment. The transfer matrixes of the drive force, inertia force and friction were deduced on the basis of motion analysis. The dynamics model of 5-bars hybrid machine with the joint friction considered was proposed by using Kane＇s method, and an arithmetic was presented to solve these equations. The results of inverse dynamics show that the model is correct. The simulation results indicate that the joint friction has obvious influence on the motion parameters of the mechanism.
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