一种含间隙两转动一移动解耦并联机构混沌现象辨识  

Chaos Identification of Two Rotational and One Translational Decoupled Parallel Mechanism Concerning Clearance

作　　者：侯雨雷[1] 汪毅[1] 李明洋[1] 曾达幸[1] 李慧剑[2] 

机构地区：[1]燕山大学,秦皇岛066004 [2]燕山大学河北省重型装备与大型结构力学可靠性重点实验室,秦皇岛066004

出　　处：《中国机械工程》2015年第13期1759-1766,共8页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51205339);中国博士后科学基金资助项目(2013M541199)

摘　　要：以自主提出的PU-RCRR-CRRR两转动一移动解耦并联机构为研究对象,针对虎克铰的运动副间隙,结合Lankarani-Nikravesh接触力模型与牛顿-欧拉法建立了机构动力学模型;分析了机构的动态响应,并通过Poincare映射以及最大李雅普诺夫指数对机构混沌现象予以辨识。研究结果表明,含间隙的两转动一移动解耦并联机构的动力学响应中确实存在混沌现象。Taking a two rotational and one translational decoupled parallel mechanism PU-RCRRCRRR proposed independently as research object,aiming at the clearances existing in the Hooke joints,and combining Lankarani-Nikravesh contact force model and Newton-Euler method,the mechanism dynamics model was established.The dynamic responses were analyzed,in addition,the chaos phenomenon contained in the mechanism was identified with Poincare map and the largest Lyapunov exponent.The results indicate that chaotic phenomena exists in the dynamic responses of the two rotational and one translational decoupled parallel mechanism concerning clearances.

关 键 词：并联机构 间隙 动力学 混沌辨识 

分 类 号：TH113[机械工程—机械设计及理论]