考虑关节间隙的五杆机构动力学建模  

Dynamics Modeling of Planar Five-bar Mechanism with Clearance

作　　者：卫江[1] 王庚祥[2] 

机构地区：[1]陕西工商职业学院,陕西西安710119 [2]西安理工大学机械与精密仪器工程学院,陕西西安710048

出　　处：《机械制造与自动化》2014年第4期91-95,共5页Machine Building & Automation

摘　　要：利用含间隙关节元素之间的几何关系建立了该机构的间隙模型,写出了该机构的位置方程并对其进行了运动学分析,采用连续接触碰撞力模型描述了该机构间隙副的法向接触力,并以修正的Coulomb摩擦力模型建立了该机构的间隙副的切向接触力,利用第二类拉格朗日方程建立了该机构含间隙副的完整动力学模型,并结合ADAMS动力学仿真软件分析了运动副间隙对该机构动态特性的影响。为该机构的间隙补偿与控制策略提供了理论依据。According to the geometrical relationship between the joint clearances,this paper establishes the clearance model of the mechanism,gives out its position equations and makes its kinematic analysis. The continuous confact force model is took to describes the normal contact force of the joint clearance.The tangential contact force is derived according to a modified Coulomb’ s friction law. the complete dynamics with joint clearance is set up using the Second Lagrange Equation. The simulation results can preferably predict the effect of the clearance on the mechanism dynamic characteristics by ADAMS software. The theoretical foundation can be provided for the control strategy and clearance compensation in the planner mechanism.

关 键 词：平面五杆机构 间隙 连续接触力模型 摩擦 拉格朗日方程 ADAMS 

分 类 号：TH132.2[机械工程—机械制造及自动化]