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

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Journal of Vibration and Shock ›› 2016, Vol. 35 ›› Issue (8) : 211-218.

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

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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.

Key words

decoupled parallel mechanism / clearance / dynamics / chaos identification

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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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