Flexible multi-body dynamic analysis method of spatial mechanisms considering 3-D cylindrical hinge clearance collision

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Journal of Vibration and Shock ›› 2021, Vol. 40 ›› Issue (1) : 297-307.

YAO Tingqiang, CHEN Ruibo, WANG Lihua, LIU Xiaobao

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Abstract

Dynamic characteristics of 3-D cylindrical hinge have important influences on kinematic accuracy and dynamic characteristics of spatial mechanisms. Here, based on multibody dynamic method and rigid finite element one, a flexible multibody dynamic analysis method for spatial mechanisms considering 3-D cylindrical hinge clearance collision and dynamic contact was proposed. The contact deformation and contact force of cylinder-cylinder were calculated by using the cylinder-cylinder line contact mechanical model and slicing method to establish the clearance collision action and 3-D dynamic contact relationship between shaft pin and shaft sleeve of 3-D cylindrical hinge. The rigid finite element model of flexible bar was described with equivalent rigid body element and Timoshenko beam element to establish dynamic equations of flexible link and 3-D cylindrical hinge with the unified form of multi-rigid body systems.The kinematic accuracy and dynamic characteristics of a spatial mechanism with 3-D cylindrical hinge were calculated and analyzed. The spatial mechanism’s displacement response, 3-D cylinder hinge’s relative motion trajectory and dynamic force were obtained. The dynamic line contact method of 3-D cylinder-cylinder was used to effectively predict dynamic characteristics of spatial mechanism’s 3-D cylindrical hinge under action of continuous contact, clearance collision and friction. The calculating results showed that the clearance impact of 3-D cylindrical hinge has significant effects on kinematic accuracy and dynamic characteristics of spatial mechanism; dynamic model and calculation results have important theoretical significance for dynamic design and dynamic research of high precision multi-clearance spatial mechanisms under complex working conditions.

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3-D cylindrical hinge / spatial mechanism / rigid finite element method / multibody dynamics / clearance

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YAO Tingqiang, CHEN Ruibo, WANG Lihua, LIU Xiaobao. Flexible multi-body dynamic analysis method of spatial mechanisms considering 3-D cylindrical hinge clearance collision[J]. Journal of Vibration and Shock, 2021, 40(1): 297-307

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