含间隙和干摩擦的连杆机构系统动力学研究

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摘要各种连杆机构铰链处存在的非线性因素对机构运行的稳定性产生巨大的危害，因此考虑间隙和干摩擦非线性因素同时存在对机构系统动力学性能的影响是进一步改善机构运行性能的重要基础。以四杆机构为例，对于连杆两端铰链处存在的间隙和干摩擦因素，采用开关键合图分别对其建立各自的向量键合图模型；在此基础上，建立间隙和干摩擦同时存在的铰链单元的非因果键合图模型，将其以整体模块形式嵌入四杆机构的向量键合图模型中，得到整体四杆机构混合键合图模型，由混合键合图模型最终建立机构的动力学方程；基于Matlab软件对所建模型进行数值仿真研究，得出非线性因素对连杆动力学性能的影响，对于控制连杆机构的运行精度和稳定性具有指导意义。

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	王威沈政宋玉玲陈军师帅兵

关键词 ：连杆机构, 系统动力学, 间隙, 干摩擦, 混合键合图模型

Abstract：Nonlinear factors in hinge of linkage do enormous harm to the running stability of mechanism. So, it is an important foundation to investigate the influence of clearance and dry friction that exist in mechanism simultaneously on mechanism dynamics for further improving the running performance of it. Taking the four bar mechanism as an example, switch bond graph method is used to establish bond graph models of clearance and dry friction in hinge of link. On this basis, a non-casual bond graph model of hinge with clearance and dry friction is established and embedded into the vector bond graph model of a four bar mechanism. Thus the whole hybrid bond graph model of four bar mechanism is obtained and dynamics equation of mechanism is established by using it. The influences of nonlinear factors on link dynamics are analyzed by numerical simulation using Matlab 7.0, which have guiding significance for controlling the running precision and stability of linkage mechanism.

Key words： Linkage Mechanism system dynamics Clearance Dry Friction hybrid Bond Graph Model

收稿日期: 2014-07-01 出版日期: 2015-09-25

引用本文:

王威沈政宋玉玲陈军师帅兵. 含间隙和干摩擦的连杆机构系统动力学研究[J]. 振动与冲击, 2015, 34(18): 210-214.
Wang Wei Shen Zheng Song Yuling Chen Jun Shi Shuaibing. Research on System Dynamics for Linkage Mechanism with Clearance and Dry Friction. JOURNAL OF VIBRATION AND SHOCK, 2015, 34(18): 210-214.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2015/V34/I18/210

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