[1]陈江义,郝雪清,虞启辉..含间隙铰链并联机构的动力学分析[J].郑州大学学报(工学版),2012,33(01):98-101.[doi:10.3969/j.issn.1671-6833.2012.01.024]
　CHEN Jiangyi,HAO Xueqing,YU Qihui.Dynamic Analysis of Parallel Mechanism with Clearance Revolute Joint[J].Journal of Zhengzhou University (Engineering Science),2012,33(01):98-101.[doi:10.3969/j.issn.1671-6833.2012.01.024]
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含间隙铰链并联机构的动力学分析()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
33
期数:
2012年01期
页码:
98-101
栏目:
出版日期:
2012-01-10

文章信息/Info

Title:
Dynamic Analysis of Parallel Mechanism with Clearance Revolute Joint
作者:
陈江义; 郝雪清; 虞启辉.
郑州大学机械工程学院,河南郑州,450001, 北京航空航天大学自动化科学与电气工程学院,北京,100191
Author(s):
CHEN Jiangyi; HAO Xueqing; YU Qihui
1.School of Mechanical Engineering, Zhengzhou University, Zhengzhou 450001 , China;2. $chool of Automation Seience and E.lectrical Kngineering,Beihang University,Beijing 100191, China
关键词:
并联机构;  铰链;  间隙;  动力学特性
Keywords:
parallel mechanism;  joint;  clearance;  dynamic characteristics
分类号:
TH113
DOI:
10.3969/j.issn.1671-6833.2012.01.024
摘要:
以3-RRRT并联机构为对象,基于ADAMS仿真软件平台,在考虑库仑摩擦力条件下,利用非线性等效弹簧阻尼的概念建立含间隙铰链的接触动力学模型,在此基础上构建了机构的动力学分析模型.对该模型进行仿真,分析铰链在理想接触和含间隙时并联机构的动力学性能,同时还比较研究了机构一条支链存在铰链间隙和三条支链均存在铰链间隙时的动力学性能.结果表明铰链间隙对并联机构动平台的加速度及机构接触力都有较大影响,在机构设计时需要加以考虑.
Abstract:
Based on the ADAMS ( Automatic Dynamic Analysis of Mechanical Systems) simulation softwareplatform, with the 3-RRR’T parallel mechanism as the research object and the Coulomb’s frietion into consid.eration, the contact force model of joint with clearance is established by using the nonlinear equivalent springdamp model. After simulating the model, comparing the dynamic characteristic of parallel mechanism which u.ses ideal joint use clearance joint, simultaneously comparing the dynamic characteristics of parallel mechanismwith clearance in one chain with that in three chains, we have the result that shows that the clearance affectsthe acceleration of moving, platform and mechanism’ contact force, so clearance should be considered whendesigning the mechanism.
更新日期/Last Update: 1900-01-01