基于熵权法的含间隙和柔性的机构定量分析方法及应用

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振动与冲击 ›› 2023, Vol. 42 ›› Issue (19) : 40-48.

论文

潘佳煊,钱孟波,孙福兴,虞浪,陈强

作者信息 +

A quantitative analysis method of mechanism with clearance and flexibility based on entropy weight method and its application

PAN Jiaxuan, QIAN Mengbo, SUN Fuxing, YU Lang, CHEN Qiang

Author information +

文章历史 +

摘要

含间隙机构运动过程中呈现出非线性，为了更好的模拟含间隙机构实际工况，对局部构件做柔性化处理，在建立间隙机构动力学模型的基础上，利用ADAMS二次开发功能，通过Fortran语言自主编写接触力的求解子程序，加载到ADAMS函数求解库中，实现接触模式实时判别和接触力的求解，分析考虑间隙和局部构件柔性对机构的运动特性影响规律。采用Lyapunov指数验证其运动非线性，并在此基础上提出一种基于熵权法的非线性定量分析新方法，通过MATLAB编写熵权法程序并对仿真结果进行定量分析，评估间隙和构件柔性对机构非线性的影响程度，并将该方法应用于2-RR&2-PR并联机构运动特性研究。结果表明：在任何条件下，动平台X方向加速度熵权值最大，说明对非线性影响权重最高，通过分析不同因素对机构非线性影响程度的趋势，使得对机构非线性程度的描述更为准确，为未来含间隙机构非线性定量分析提供了理论参考。

Abstract

The motion of the mechanism with clearance shows non-linearity.In order to better simulate the actual working conditions of the mechanism with clearance, the flexibility of local components is handled. On the basis of establishing the dynamics model of the clearance mechanism, the contact force solving subroutine was independently written by using the secondary development function of ADAMS and loaded into the ADAMS function solving library to realize the real-time discrimination of the contact mode and the solution of the contact force, and the influence law of the clearance and local component flexibility on the motion characteristics of the mechanism was analyzed and considered.The Lyapunov exponent is used to verify its motion non-linearity, and on this basis, a new method of quantitative analysis of non-linearity based on the entropy weight method is proposed. The entropy weight method program is written by MATLAB and the simulation results are quantitatively analyzed to evaluate the degree of influence of clearance and member flexibility on the mechanism non-linearity, and the method is applied to the study of the motion characteristics of the 2-RR&2-PR parallel mechanism.The results show that under any conditions, the X direction acceleration entropy weight of the moving platform is the largest, indicating the highest weight on the nonlinear influence. By analyzing the trend of different factors on the degree of mechanism non-linearity, it makes the description of the degree of mechanism non-linearity more accurate and provides a theoretical reference for the future quantitative analysis of mechanism non-linearity containing clearance.

导出引用

潘佳煊,钱孟波,孙福兴,虞浪,陈强. 基于熵权法的含间隙和柔性的机构定量分析方法及应用[J]. 振动与冲击, 2023, 42(19): 40-48

PAN Jiaxuan, QIAN Mengbo, SUN Fuxing, YU Lang, CHEN Qiang. A quantitative analysis method of mechanism with clearance and flexibility based on entropy weight method and its application[J]. Journal of Vibration and Shock, 2023, 42(19): 40-48

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