柔性多体系统含摩擦碰撞stick-slip过程动力学仿真  

Dynamic simulation for flexible multibody systems containing frictional impact and stick-slip processes

作　　者：钱震杰 章定国[2] 金诚谦[1] 

机构地区：[1]农业部南京农业机械化研究所,南京210014 [2]南京理工大学理学院,南京210094

出　　处：《振动与冲击》2017年第23期32-37,共6页Journal of Vibration and Shock

基　　金：国家自然科学基金青年科学基金(11602120);国家自然科学基金(11272155;11132007);国家科技支撑计划(2013BAD08B02)

摘　　要：基于高次刚柔耦合理论和Lagrange乘子法,研究了柔性多体含摩擦碰撞stick-slip过程的全局动力学的精确建模与自动切换仿真问题。基于变拓扑思想,根据分离、碰撞、黏滞接触和滑动接触等状态分别构造相应的约束条件和动力学方程。运用冲量/动量法求解碰撞初始条件;引入切向滑动摩擦力势能的概念描述切向滑动接触力;给出接触、分离、黏滞、正向/逆向滑动状态之间的切换准则,实现了系统全局动力学自动切换。通过算例的数值仿真,分析了滑移/黏滞(微滑动)、正/逆向滑动等复杂非光滑现象,验证了该模型和算法的有效性。The dynamic simulation including modeling and automatic switching for flexible multibody systems was investigated using Lagrange multiplier method and the high order rigid-flexible coupled theory. Based on variable topology idea,dynamic equations and the corresponding constraint conditions were established,respectively for detachment,impact,viscous contact and slip contact states. The impulse-momentum method was used to solve the impact initial conditions. The concept of tangential sliding friction force potential energy was introduced to describe the corresponding generalized impact forces with Lagrange equations. The switching criteria among contact,detachment,stick and slip were built to realize the global dynamic automatic switching of the system. Examples were numerically simulated to analyze the complex non-smooth phenomena including forward/backward slip and slip/stick（ micro slip） to verify the effectiveness of the proposed model and algorithms.

关 键 词：含摩擦碰撞 黏滞/滑移 接触约束 柔性机械臂 动力学建模 

分 类 号：O313[理学—一般力学与力学基础] O322[理学—力学]