不同重力环境下含间隙铰位置和碰撞力  

Effect of Different Gravity Environment on the Position and Collision Force of Joint with Clearance

作　　者：李仕华[1] 冯伟波 秦利[2] 刘福才[2] 徐继龙[1] 

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [2]燕山大学工业控制工程河北省重点实验室,秦皇岛066004

出　　处：《机械工程学报》2015年第17期52-58,共7页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划(军口863计划);河北省自然科学基金(F2015203362)资助项目

摘　　要：分别以销轴和两维指向机构为研究对象,结合'接触-分离'两状态模型,采用多体系统动力学理论,得到含间隙铰的多体系统动力学方程。基于该方程,采用动力学仿真软件ADAMS对含间隙铰的动力学特性进行分析,得出了销轴在重力场和微重力场中不同转速下销轴中心的运动轨迹及销轴与套筒碰撞力的变化规律。仿真结果表明:重力释放对含间隙铰的运动轨迹、振动、穿刺深度、碰撞力、末端精度等都具有较大的影响。研究成果对含间隙机构的设计具有重要价值和意义。The multibody system dynamic equations of pin and two-dimensional pointing mechanism with clearance are obtained by using ＂contact-separation＂ two-state model and the multibody system dynamic theory. Based on these equations, the dynamics characteristics are analyzed by using dynamic simulation software ADAMS. The trajectories center pin and collision force change regularities are obtained in gravity field and micro gravity field at different speeds. The simulation results show that the release of gravity has great influence on the trajectories, vibration, penetration depth, collision force and end-effector precision of clearance joint. The results have important value and great significance for clearance mechanism design.

关 键 词：间隙铰 重力 多体系统动力学 动力学特性 两维指向机构 

分 类 号：V11[航空宇航科学与技术—人机与环境工程]