考虑球面副间隙的并联机构动力学模型

王庚祥;刘宏昭;邓培生

振动与冲击 ›› 2014, Vol. 33 ›› Issue (10) : 43-49.

PDF(1456 KB)
PDF(1456 KB)
振动与冲击 ›› 2014, Vol. 33 ›› Issue (10) : 43-49.
论文

考虑球面副间隙的并联机构动力学模型

  • 王庚祥,刘宏昭,邓培生
作者信息 +

Dynamics modeling of parallel mechanism with spherical joint clearance

  • WANG Geng-xiang,LIU Hong-zhao,DENG Pei-sheng
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摘要

基于连续接触模型研究空间球面副间隙对新型减振平台(4-SPS/CU并联机构)动力学性能影响。将4-SPS/CU并联机构中一条驱动支链与下平台相连球面副间隙视为一刚性无质量杆。建立球面副间隙数学模型及该并联机构含关节间隙的位置方程;利用达朗贝尔原理建立理想4-SPS/CU并联机构动态静力学平衡方程并导出该机构所有关节反力;将理想机构运动副反力位置角近似等于该机构球面副中无质量间隙杆方位角;通过对含关节间隙的驱动支链受力重新分析建立该机构含关节间隙的动力学模型。数值计算、对比分析该并联机构考虑关节间隙与理想关节条件下球面副关节反力随时间变化,分析关节间隙对该并联机构运动学特性及驱动力影响,为该并联机构间隙补偿与控制策略提供理论依据。

Abstract

Joints clearance are essential components of multi-body systems, and it gives rise to the impact forces between the joint elements, which induce increased vibration and noise, reduce component life ,and result in a loss of precision. Joint clearance of mechanical system is necessary to allow the relative motion of connected bodies. This paper presents a dynamic modeling of a novel vibration damping platform (4-SPS/CU parallel mechanism) with spherical joint clearance based on the continuous contact mode. One of the driving chains connected to the lower platform with spherical joint, and the clearance in this spherical joint isviewedasno-mass rigid link in the 4-SPS/CU parallel mechanism. Firstly, the mathematical model of spherical clearance and the position equations with clearance of the parallel mechanism are set up. Secondly, thekinetostatics equilibrium equations of the ideal parallel mechanism are successfully formulated via d'Alembert principle, and all of the joint reactions are induced by solving the kinetostatics equilibrium equations. On the basis of the above results, the position angles of the ideal mechanism’s joint reactions corresponding to the clearance kinematicpair are approximately equal to the orientation angles of the no-mass rigid link. Lastly, the dynamics equations with clearance are modeled by reopening force analysis of the driving chain with joint clearance. The driving forces, kinematics characteristicsand joint reactions of the parallel mechanism are analyzed respectively under with clearance or ideal joint by numerical calculation. These observations can provide useful information towards the design of the parallel mechanisms.

关键词

间隙减振平台连续接触模型动力学达朗贝尔原理

Key words

clearancevibration damping platform continuous contact mode dynamics d'Alembert principle

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导出引用
王庚祥;刘宏昭;邓培生. 考虑球面副间隙的并联机构动力学模型[J]. 振动与冲击, 2014, 33(10): 43-49
WANG Geng-xiang;LIU Hong-zhao;DENG Pei-sheng. Dynamics modeling of parallel mechanism with spherical joint clearance [J]. Journal of Vibration and Shock, 2014, 33(10): 43-49

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