Dynamic Analysis of aSelected Spatial One-DOF Linkage Mechanism with Friction in Joints  

作　　者：Andrzej Harlecki Andrzej Urbas 

机构地区：[1]Department of Mechanics, Faculty of Mechanical Engineering and Computer Science, University of Bielsko-Biala, Willowa 2,Bielsko-Biala 43-309, Poland

出　　处：《Journal of Control Science and Engineering》2016年第1期11-25,共15页控制科学与工程（英文版）

摘　　要：The dynamic analysis of a one-DOF RSRRR spatial linkage mechanism, including four rotational joints R and one spherical joint S, is presented in the paper. It is assumed that friction occurs in the rotational joints, whereas a spherical joint can be treated as an ideal one. The mechanism in the form of a closed-loop kinematic chain was divided by cut joint technique into two open-loop kinematic chains in place of the spherical joint. Joint coordinates and homogeneous transformation matrices were used to describe the geometry of the system. Equations of the chains＇ motion were derived using formalism of Lagrange equations. Cut joint constraints and reaction forces, acting in the cutting place---i.e, in the spherical joint, have been introduced to complete the equations of motion. As a consequence, a set of differential-algebraic equations has been obtained. In order to solve these equations, a procedure based on differentiation twice of the formulated constraint equations with respect to time has been applied. In order to determine values of friction torques in the rotational joints in each integrating step of the equations of motion, joint forces and torques were calculated using the recursive Newton-Euler algorithm taken from robotics. For the requirements of the method, a model of a rotational joint has been developed. Some examples of results of the numerical calculations made have been presented in the conclusions of the paper.

关 键 词：Dynamic analysis linkage mechanism FRICTION cut joint technique. 

分 类 号：O316[理学—一般力学与力学基础] TH112.1[理学—力学]