对于末端受力矩弯曲的梁来说,欧拉伯努利方程为:
d θ d s = M 0 E I \frac{\mathrm{d} \theta}{\mathrm{d} s}=\frac{M_{0}}{E I} dsdθ=EIM0
这其实是建立在小变形的基础上,否则曲率不是这么简单的。在这种情况下我们可以计算末端的变形大小。
末端的变形角
∫ 0 θ 0 d θ = ∫ 0 L M 0 E I d s θ 0 = M 0 L E I \begin{aligned} \int^{\theta_{0}}_0 \mathrm{~d} \theta & =\int_{0}^{L} \frac{M_{0}}{E I} \mathrm{~d} s \\ \theta_{0} & =\frac{M_{0} L}{E I} \end{aligned} ∫0θ0 dθθ0=∫0LEIM0 ds=EIM0L
垂直方向的变形
M 0 E I = d θ d s = d θ d y d y d s \frac{M_{0}}{E I}=\frac{\mathrm{d} \theta}{\mathrm{d} s}=\frac{\mathrm{d} \theta}{\mathrm{d} y} \frac{\mathrm{d} y}{\mathrm{~d} s} EIM0=dsdθ=dydθ dsdy
d y / d s = sin θ \mathrm{d} y / \mathrm{d} s=\sin \theta dy/ds=sinθ
于是有:
M 0 E I = d θ d y sin θ \frac{M_{0}}{E I}=\frac{\mathrm{d} \theta}{\mathrm{d} y} \sin \theta EIM0=dydθsinθ
积分计算:
∫ 0 b d y = E I M 0 ∫ 0 θ 0 sin θ d θ \int_{0}^{b} \mathrm{~d} y=\frac{E I}{M_{0}} \int_{0}^{\theta_{0}} \sin \theta \mathrm{d} \theta ∫0b dy=M0EI∫0θ0sinθdθ
计算y轴方向的变形b为:
b = E I M 0 ( − cos θ 0 + 1 ) b=\frac{E I}{M_{0}}\left(-\cos \theta_{0}+1\right) b=M0EI(−cosθ0+1)
水平方向的变形
M 0 E I = d θ d s = d θ d x d x d s \frac{M_{0}}{E I}=\frac{\mathrm{d} \theta}{\mathrm{d} s}=\frac{\mathrm{d} \theta}{\mathrm{d} x} \frac{\mathrm{d} x}{\mathrm{~d} s} EIM0=dsdθ=dxdθ dsdx
d x / d s = cos θ \mathrm{d} x / \mathrm{d} s=\cos \theta dx/ds=cosθ
于是有:
M 0 E I = d θ d x cos θ \frac{M_{0}}{E I}=\frac{\mathrm{d} \theta}{\mathrm{d} x} \cos \theta EIM0=dxdθcosθ
积分计算:
∫ 0 a d x = E I M 0 ∫ 0 θ 0 cos θ d θ \int_{0}^{a} \mathrm{~d} x=\frac{E I}{M_{0}} \int_{0}^{\theta_{0}} \cos \theta \mathrm{d} \theta ∫0a dx=M0EI∫0θ0cosθdθ
计算x轴方向的变形a为:
a = E I M 0 ( sin θ ) a=\frac{E I}{M_{0}}\left(\sin\theta\right) a=M0EI(sinθ)
Larry L Howell. 《柔顺机构学》.33-35.