含间隙RU-RPR解耦并联机构混沌与冲击现象

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摘要针对含间隙机构中的混沌与冲击现象，以自主提出的RU-RPR（R为转动副，U为虎克铰，P为移动副）两转动解耦并联机构为研究对象，考虑运动副间隙，结合Lankarani-Nikravesh接触力模型与拉格朗日方程建立间隙机构动力学模型，分析不同的驱动速度和摩擦系数对机构中混沌现象与冲击的影响，同时探讨机构的稳定性与冲击现象的关系，并分析增设弹簧对机构动力学特性的影响。研究结果表明，改变驱动速度与摩擦系数时，冲击现象仍然存在，而机构可以由混沌运动变为周期运动，稳定性增强；机构的稳定性与冲击现象并没有必然的联系，且增加弹簧可以显著的减弱机构中的冲击程度。

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	侯雨雷1
	汪毅1
	井国宁1
	曾达幸1
	邱雪松1
	李慧剑2

关键词 ：并联机构, 间隙, 动力学, 混沌, 冲击

Abstract：

For chaos and impact phenomena in a mechanism with clearance, taking a tworotation decoupled parallel mechanism RU-RPR (R stands for a revolute pair, U stands for a Hooke joint, P stands for a translation pair) proposed independently as a study object, considering clearance existing in a kinematic pair, combining with Lankarani-Nikravesh contact force model and Lagrange equation, the dynamic equation of the mechanism was established, and its chaos and impact phenomena were studied. Then the influences of different driving speeds and friction coefficients on chaos and impact phenomena were analyzed, and the relationship between the stability of the mechanism and impact phenomenon was investigated at the same time. The influences of an additional spring on dynamic characteristics of the mechanism were analyzed. The results showed that when changing drive speed or friction coefficient, the impact phenomenon still exists, while the motion of the mechanism can be changed from chaotic motion to periodic one, the stability of the mechanism is enhanced; there is no necessary relation between the stability of the mechanism and its impact phenomenon, and the impact level can be significantly weakened by adding springs.

Key words： parallel mechanism clearance dynamics chaos impact

收稿日期: 2015-08-16 出版日期: 2016-12-25

引用本文:

侯雨雷1，汪毅1，井国宁1，曾达幸1，邱雪松1，李慧剑2. 含间隙RU-RPR解耦并联机构混沌与冲击现象[J]. 振动与冲击, 2017, 36(1): 215-222.
HOU Yulei1, WANG Yi1, JING Guoning1, ZENG Daxing1, QIU Xuesong1, LI Huijian2. Chaos and Impact Phenomenon of RU-RPR Decoupled Parallel Mechanism Concerning Clearance. JOURNAL OF VIBRATION AND SHOCK, 2017, 36(1): 215-222.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2017/V36/I1/215

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