一种含间隙解耦并联机构动力学分析与混沌现象辨识  

Dynamics analysis and chaos identification of a decoupled parallel mechanism concerning clearance

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

机构地区：[1]燕山大学机械工程学院,河北秦皇岛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,河北秦皇岛066004

出　　处：《振动与冲击》2016年第8期211-218,共8页Journal of Vibration and Shock

基　　金：国家自然科学基金资助项目(51205339;51305384);中国博士后科学基金资助项目(2013M541199)

摘　　要：以自主提出的一种两转动解耦并联机构为研究对象,阐述机构结构组成,并针对其运动副存在间隙状况,建立含间隙机构动力学模型;基于ADAMS软件进行动力学仿真,并分析在有无运动副间隙、不同间隙和驱动速度下,机构位移、速度、加速度以及运动副接触力的变化;借助Poincare截面映射法对解耦并联机构动力学行为中的混沌现象予以辨识,绘制Poincare映射图,揭示间隙对机构动力学特性的影响。研究结果表明含间隙解耦并联机构存在混沌运动现象,对其更进一步的非线性动力学研究有一定指导意义。Taking a two-rotational independent decoupled parallel mechanism as an object, the structure composition of the mechanism was described. Considering the clearance condition exists in the assembly and operational process, the dynamics model was established in this paper. The dynamics simulation was performed based on ADAMS software, and the variation conditions of the displacement, velocity, acceleration and contact force of the mechanism corresponding to the presence or absence of the kinematic pair clearance, different pair clearance and driving velocity were analyzed. The chaos phenomenon in the dynamics behavior of the decoupled parallel mechanism was identified with the Poincare section-mapping method, the Poincar6 maps were plotted, and the effects of the clearance on the dynamic characteristics of the mechanism were revealed. The results showed that there exists the chaos phenomenon in the decoupled parallel mechanism concerning clearance, which is certainly significant for further nonlinear dynamics research

关 键 词：解耦并联机构 间隙 动力学 混沌辨识 

分 类 号：TH113[机械工程—机械设计及理论]