一种含间隙解耦并联机构动力学分析与混沌现象辨识

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振动与冲击 ›› 2016, Vol. 35 ›› Issue (8) : 211-218.

论文

侯雨雷1，张占叶1，李明洋1，汪毅1，曾达幸1，李慧剑2

作者信息 +

Dynamics analysis and chaos identification of a decoupled parallel mechanism concerning clearance

HOU Yu-lei1, ZHANG Zhan-ye1, LI Ming-yang1, WANG Yi1, ZENG Da-xing1, LI Hui-jian2

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文章历史 +

摘要

以自主提出的一种两转动解耦并联机构为研究对象，阐述机构结构组成，并针对其运动副存在间隙状况，建立含间隙机构动力学模型；基于ADAMS软件进行动力学仿真，并分析在有无运动副间隙、不同间隙和驱动速度下，机构位移、速度、加速度以及运动副接触力的变化；借助Poincare截面映射法对解耦并联机构动力学行为中的混沌现象予以辨识，绘制Poincare映射图，揭示间隙对机构动力学特性的影响。研究结果表明含间隙解耦并联机构存在混沌运动现象，对其更进一步的非线性动力学研究有一定指导意义。

Abstract

Taking a two rotational decoupled parallel mechanism independent proposed as object, the structure composition of the mechanism was described. Considering the clearance condition exists in assembly and operational process, the dynamics model was established in this paper. The dynamics simulation was performed based on ADAMS software, and the variation conditions of the displacement, velocity, acceleration and contact force of the mechanism corresponding to presence or not of the kinematic pair clearance, different pair clearance and driving velocity were analyzed. The chaos phenomenon in the dynamics behavior of the decoupled parallel mechanism was identified with the Poincare section mapping method, the Poincare maps were plotted, and the effects of the clearance on the dynamic characteristics of the mechanism was revealed. The research results showed that there exists the chaos phenomenon in the decoupled parallel mechanism concerning clearance, which possess certainly guiding significance for the further nonlinear dynamics research.

导出引用

侯雨雷1，张占叶1，李明洋1，汪毅1，曾达幸1，李慧剑2. 一种含间隙解耦并联机构动力学分析与混沌现象辨识[J]. 振动与冲击, 2016, 35(8): 211-218

HOU Yu-lei1, ZHANG Zhan-ye1, LI Ming-yang1, WANG Yi1, ZENG Da-xing1, LI Hui-jian2. Dynamics analysis and chaos identification of a decoupled parallel mechanism concerning clearance[J]. Journal of Vibration and Shock, 2016, 35(8): 211-218

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