For the dynamic simulation of double crank six-bar press mechanism with joint clearance, the corresponding vector bond graph procedure was proposed.Based on an improved hybrid nonlinear continuous contact and collision model, the vector equation for relative collision velocity of joint clearance was derived.Based this, a vector bond graph model describing joint clearance more accurately was made, which possesses modular and universal characteristics and is suitable for embedding into the system vector bond graph.From the constraint relations of mechanism kinematic pairs, the vector bond graph model of double crank six-bar press mechanism with joint clearance driven by an electric motor was made by bonding vector bond graphs of mechanism components.By the corresponding method, all the energy storage elements of the mechanism vector bond graph possessed integral causality, and the computer modeling and dynamic simulation of double crank six-bar press mechanism with joint clearance driven by the electric motor was realized.Based on this, the influence of joint clearance on kinematic and dynamic character of press mechanism was analyzed, and the reliability and validity of the procedure proposed were illustrated.Finally, by comparing with the calculated results of the joint clearance model of the mass-less spring damping, it is further clarified that the method presented in this paper can improve the accuracy and practicability of system dynamic simulation.
Key words
vector bond graph /
joint clearance /
nonlinear continuous contact and collision force /
relative collision velocity vector /
double crank six-bar press mechanism /
dynamic modeling and simulation
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Footnotes
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