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Supervised by Ministry of Industry and Information Technology of The People''s Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Related citation:Jianfeng Li,Sanmin Wang,Bo Li,Changjian Zhi,Qi'an Peng.Dynamics Analysis of Square Unit and its Combined Mechanism with Joint Clearance[J].Journal of Harbin Institute Of Technology(New Series),2018,25(6):59-65.DOI:10.11916/j.issn.1005-9113.18057.
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Dynamics Analysis of Square Unit and its Combined Mechanism with Joint Clearance
Jianfeng Li, Sanmin Wang, Bo Li , Changjian Zhi,Qi'an Peng
(School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China)
Abstract:
The deployable mechanisms consisting of square units are widely applied in aeronautics and astronautics, biomedicine, architecture and other fields, and joint clearance in such a mechanism is unavoidable. This study is carried out to accurately investigate the dynamic property of the mechanism. Firstly, a dynamics model was built by considering the motion characteristics between elements of joint with clearances. Secondly, based on Floures contact force model and LuGre friction force model, the tangential and normal contact force of revolute pair element with clearance were calculated respectively. Finally, square combined mechanisms′ dynamic analytical method considering joint clearance was investigated, and constraint renege problem was resolved by adopting Baumgarte stable constraint method in integration process. Analytical result indicates that the impact of joint clearance on dynamic property of square combined mechanism should not be neglected.
Key words:  square unit and its combined mechanism  clearance  Floures contact force model  dynamics
DOI:10.11916/j.issn.1005-9113.18057
Clc Number:TH122
Fund:
Descriptions in Chinese:
  

考虑运动副间隙的正方形单元及其组合机构的动力学分析

李剑锋,王三民,李博,智常建,彭麒安

(西北工业大学 机电学院,西安 710072)

创新点说明:

1.为精确研究正方形单元及其组合机构的动力学性能,通过考虑间隙转动副元素之间的运动规律建立了该运动副的运动学模型。

2.在Floures接触力模型和LuGre摩擦力模型的基础上建立了考虑运动副间隙的正方形组合机构的动力学分析方法,并采用Baumgarte提出的稳定约束法来解决积分过程中的约束违约现象。

3.采用具体算例验证了本文方法的有效性。该方法简化了正方形单元及其组合结构动力学分析过程,拓展了其应用范围,具有较高的实际应用价值。

研究目的:

为精确研究该机构的动力学性能,通过考虑间隙转动副元素之间的运动规律建立了该运动副的运动学模型,分析运动副间隙对正方形单元及其组合机构动力学的影响。

研究方法:

通过考虑间隙转动副元素之间的运动规律建立了该运动副的运动学模型;其次,在Floures接触力模型和LuGre摩擦力模型的基础上得到了考虑间隙转动副元素之间的切向和法向接触力;最后,建立了考虑运动副间隙的正方形组合机构的动力学分析方法,并采用Baumgarte提出的稳定约束法来解决积分过程中的约束违约现象,运用Matlab对具体算例计算和分析。

结果:

结果发现正方形单元及其组合结构转动副随着间隙值的增加,正方形可展机构动态曲线的变化范围更大,波动幅值较大,预测随着间隙值的继续增加,碰撞过程会更加严重,直至机构失效。表明运动副间隙对正方形组合机构动力学性能的影响不可忽视。

结论:

1.基于接触-分离-碰撞过程,成功地将运动副间隙效应引入到正方形可展机构的动力学模型中,分别采用Floures模型和修正的Coulomb摩擦力模型计算接触碰撞力,并使用Baumgarte稳定约束法有效的避免了积分过程中产生的约束违约现象。

2.含间隙正方形可展机构动力学特性的研究表明:机构动力学行为的计算需要考虑运动副间隙效应对的影响。

3.通过对间隙值分别为0.25mm和0.5mm的分析可知:随着间隙值的增加,正方形可展机构动态曲线的变化范围更大,波动幅值较大,随着间隙值的继续增加,碰撞过程会更加严重,直至机构失效。

关键词:正方形单元及其组合机构,间隙,Floures接触力模型,动力学

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