含转动副间隙的两转动并联机构动力学建模与动态特性分析

摘要/Abstract

摘要： 鉴于Lankarani-Nikravesh接触力模型的不足，提出一种修正的接触力模型，并验证其有效性。以含转动副间隙RU-RPR并联机构为研究对象，分别以修正的接触力模型和修正的Coulomb法则计算法向与切向接触力，以微分代数形式建立动力学模型，加入Baumgarte违约稳定法并借助四阶Runge-Kutta法予以数值求解，分析了不同摩擦因数对机构动态特性的影响。

关键词: 并联机构, 间隙, 动力学, 接触力

Abstract: Based on the deficiencies of Lankarani-Nikravesh contact force model, a modified contact force model was proposed, and it was verified that the modified contact force model is effective. A parallel mechanism RU-RPR with revolute joint clearances was taken as research object, and the modified contact force model and modified Coulomb friction force model were used to calculate normal contact forces and tangential contact forces, respectively. Dynamics equations were established in form of differential algebra. Baumgarte stabilization method was added and the equations were solved by the fourth order Runge-Kutta method. Then effects of different friction coefficients on dynamic behaviours of the mechanisms were analyzed.

Key words: parallel mechanism, clearance, dynamics, contact force

中图分类号:

TH113

侯雨雷;井国宁;邓云蛟;杨彦东;曾达幸. 含转动副间隙的两转动并联机构动力学建模与动态特性分析[J]. 中国机械工程.

HOU Yulei;JING Guoning;DENG Yunjiao;YANG Yandong;ZENG Daxing. Dynamics Modeling and Characteristics Analyses of a Two Rotational Parallel Mechanism with Revolute Joint Clearances[J]. China Mechanical Engineering.

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