含间隙高速多连杆传动机构动力学特性研究

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振动与冲击 ›› 2014, Vol. 33 ›› Issue (14) : 66-71.

论文

含间隙高速多连杆传动机构动力学特性研究

张增磊1，巫世晶1，赵文强1,2，王晓笋1

作者信息 +

Research on dynamics characteristics of high-speed multi-link transmission mechanisms with clearance

ZHANG Zeng-lei1，WU Shi-jing 1，ZHAO Wen-qiang1,2，WANG Xiao-sun1

Author information +

文章历史 +

摘要

针对运动副中存在间隙会使高速多连杆传动机构呈强烈非线性振动特征、严重影响机构运行可靠性问题，在研究运动副间隙动力学建模理论基础上，基于间隙矢量模型，建立高速多连杆传动机构含间隙旋转副的“碰撞铰”模型，并引入传动机构动力学模型，利用非线性弹簧-阻尼模型模拟接触碰撞的法向力，利用修正的库伦摩擦模型模拟接触碰撞的切向力；在特定工况下仿真获得其动态特性，多间隙转动副对机构特性有重要影响。研究间隙不同尺寸时对机构运行可靠性影响，与采用理想运动副建立的连杆机构动态特性对比发现，多间隙转动副的存在会使机构速度、加速度特性产生运动滞后效应，加速度存在强烈冲击、波动现象，并分析产生原因。所用研究方法与参数分析结果可为多连杆传动机构优化设计与可靠运行提供参考。

Abstract

High-speed multi-link transmission mechanisms with clearance present strong nonlinear features which affects the dynamic characteristics of the mechanisms. A collision-hinge model, inserted into the dynamics model of an actual multi-link transmission mechanism, is built for clearance joints with the clearance vector model, based on study of dynamics modeling theory for clearance. In order to simulate process of contact and collision, normal forces are calculated with a nonlinear continuous contact force model and tangential forces are calculated with the modified Coulomb friction model. Then in a designated working condition, the dynamics model is solved, founding the great influence on dynamic characteristics of the mechanism. Meanwhile, influence of size difference of clearance on running reliability of the mechanism is analyzed, founding that the existence of multiple clearance joints can cause an hysteresis effect on velocity and acceleration of the mechanism, and impact and fluctuation effects on acceleration, compared with dynamic characteristics of the model built with ideal joints. Moreover, the reason leading to such results is analyzed. Studying methods and parametric analyzing results can act as reference for optimal design and reliable running of multi-link transmission mechanisms.

导出引用

张增磊;巫世晶;赵文强;王晓笋. 含间隙高速多连杆传动机构动力学特性研究[J]. 振动与冲击, 2014, 33(14): 66-71

ZHANG Zeng-lei;WU Shi-jing;ZHAO Wen-qiang;WANG Xiao-sun . Research on dynamics characteristics of high-speed multi-link transmission mechanisms with clearance[J]. Journal of Vibration and Shock, 2014, 33(14): 66-71