多体系统中典型铰的摩擦力计算模型  

FRICTIONS IN JOINTS OF MULTIBODY SYSTEMS

作　　者：齐朝晖[1] 罗晓明[1] 黄志浩[1] 

机构地区：[1]大连理工大学工业装备结构分析国家重点实验室,大连116023

出　　处：《动力学与控制学报》2008年第4期294-300,共7页Journal of Dynamics and Control

基　　金：国家自然科学基金资助项目(10472018;10721062);973计划资助项目(2006CB705400)~~

摘　　要：在铰内间隙很小的前提下,多体系统中铰仍具有运动学约束作用.但由于铰内接触形式与系统状态相关,铰内摩擦力与约束反力之间具有复杂的函数关系.本文在假设铰内接触为刚性接触的前提下,基于分布接触反力与点接触反力之间的等效关系,给出了几种典型铰内摩擦力的计算模型,并通过数值算例验证了所提模型的正确性.Joints of multibody systems can keep their constraints under the condition of very small clearances. However,the frictions in a joint are involved in the constraint forces,as the result of the correlations between the state of the systems and form of contact in the joint. Based on the equivalence of points contact and distributed contact,we presented the formulations of frictions in typical joints with small clearances on the assumption that the deformations of joints are negligible. An example was given to...

关 键 词：多体系统 摩擦 间隙 铰 

分 类 号：O313.7[理学—一般力学与力学基础]