Abstract：The motion of the mechanism with clearance shows non-linearity.In order to better simulate the actual working conditions of the mechanism with clearance, the flexibility of local components is handled. On the basis of establishing the dynamics model of the clearance mechanism, the contact force solving subroutine was independently written by using the secondary development function of ADAMS and loaded into the ADAMS function solving library to realize the real-time discrimination of the contact mode and the solution of the contact force, and the influence law of the clearance and local component flexibility on the motion characteristics of the mechanism was analyzed and considered.The Lyapunov exponent is used to verify its motion non-linearity, and on this basis, a new method of quantitative analysis of non-linearity based on the entropy weight method is proposed. The entropy weight method program is written by MATLAB and the simulation results are quantitatively analyzed to evaluate the degree of influence of clearance and member flexibility on the mechanism non-linearity, and the method is applied to the study of the motion characteristics of the 2-RR&2-PR parallel mechanism.The results show that under any conditions, the X direction acceleration entropy weight of the moving platform is the largest, indicating the highest weight on the nonlinear influence. By analyzing the trend of different factors on the degree of mechanism non-linearity, it makes the description of the degree of mechanism non-linearity more accurate and provides a theoretical reference for the future quantitative analysis of mechanism non-linearity containing clearance.
潘佳煊,钱孟波,孙福兴,虞浪,陈强. 基于熵权法的含间隙和柔性的机构定量分析方法及应用[J]. 振动与冲击, 2023, 42(19): 40-48.
PAN Jiaxuan, QIAN Mengbo, SUN Fuxing, YU Lang, CHEN Qiang. A quantitative analysis method of mechanism with clearance and flexibility based on entropy weight method and its application. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(19): 40-48.
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