考虑间隙的空间圆柱铰多体系统运动学精度及动力学分析

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振动与冲击 ›› 2017, Vol. 36 ›› Issue (19) : 151-157.

论文

刘太素，钱林方，尹强

作者信息 +

Kinematics Accuracy and Dynamic Analysis of multi-body system with Spatial cylindrical clearance joint

LIU Tai-su,QIAN Lin-fang,YIN Qiang

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文章历史 +

摘要

为了研究空间圆柱铰间隙对系统性能的影响，首先，针对典型的空间圆柱间隙铰结构，分析了其所有可能出现的接触模式。针对空间圆柱铰轴向和径向都存在间隙的情况，对复杂的接触模式进行了几何和运动学分析，提出一种改进的计算潜在接触点位置的方法，建立了接触碰撞力模型，将其带入多体系统动力学方程。最后，对空间双摆进行了理想模型和间隙模型的对比分析。结果表明，由于轴向和径向间隙的存在，系统的运动学精度和动力学性能都受到了很大的影响，间隙大小的变化也会改变系统的运动学到位精度。空间圆柱间隙铰的建模方法和结果为机械结构的设计和改进提供了理论依据。

Abstract

In order to get the influence of spatial cylindrical joint with clearances to system, firstly, all possible contact modes of the typical spatial cylindrical clearance joint were analyzed. Aiming at the spatial cylindrical joint with clearances in the axial and radial direction ,the geometry and kinematics of complicated contact mode were analyzed. An improved method for computing potential contact points was established. The normal contact impact force model and the tangent friction force model were set up. Then, the multi-body dynamic equation was given with the normal contact impact force and the tangent friction force. Finally, spatial double pendulum with joint clearance was discussed compared with ideal model. The results showed that kinematic accuracy and dynamic performance were affected greatly of the system, because of the existed clearances in the axial and radial direction, and different clearance size also changed kinematic accuracy of the system. This method and results of spatial cylindrical joint with clearances provided the theoretical basis for design and improvement of the mechanical structures.

导出引用

刘太素，钱林方，尹强. 考虑间隙的空间圆柱铰多体系统运动学精度及动力学分析[J]. 振动与冲击, 2017, 36(19): 151-157

LIU Tai-su,QIAN Lin-fang,YIN Qiang. Kinematics Accuracy and Dynamic Analysis of multi-body system with Spatial cylindrical clearance joint[J]. Journal of Vibration and Shock, 2017, 36(19): 151-157

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