含关节间隙的3-CP_aRR并联机构的运动学和动力学分析  

Kinematics and dynamics analysis of a 3-CP_aRR parallel mechanism with joint clearance

作　　者：朱景原 王见 丁泽华 周辉 曹毅 ZHU Jingyuan;WANG Jian;DING Zehua;ZHOU Hui;CAO Yi(School of Mechanical Engineering,Jiangnan University,Wuxi 214122,China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Wuxi 214122,China;State Key Laboratory of Robotics and System,Harbin 150080,China;Key Laboratory of System Control and Information Processing,Shanghai 200240,China)

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]江苏省食品先进制造装备技术重点实验室,江苏无锡214122 [3]机器人技术与系统国家重点实验室,哈尔滨150080 [4]系统控制与信息处理教育部重点实验室,上海200240

出　　处：《振动与冲击》2018年第18期9-17,29,共10页Journal of Vibration and Shock

基　　金：国家自然科学基金资助项目(50905075);江苏省"六大人才高峰"计划项目(ZBZZ-012);机器人技术与系统国家重点实验室开放课题资助项目(SKLRS-2016-KF-06);系统控制与信息处理教育部重点实验室开放课题资助项目(SCIP201506);江苏省普通高校专业学位研究生实践创新计划项目(SJZZ16-0212)

摘　　要：为研究关节间隙对并联机构动态特性的影响,以3-CP_aRR并联机构为研究对象。基于该并联机构的运动学约束,研究了该并联机构的运动学规律,表明该并联机构驱动圆柱副可等效分解为驱动移动副和被动转动副;利用正态分布概率统计模型建立了含间隙转动关节径向和轴向的运动学模型,进而建立了含关节间隙的支链运动学模型;根据关节元素间接触运动学模型,基于Flores接触力模型和修正的Coulomb摩擦模型分别建立了转动关节的法向接触力和切向接触力模型,并基于非完整系统的Lagrange方程法建立了含关节间隙并联机构的动力学模型;通过实例计算详细分析了转动关节间隙对并联机构运动学特性和动态响应的影响;此外,通过与标准正态分布模型参数μ对比,分析了定义关节元素初始接触时的间隙量为μ值时的物理意义。该研究可为其他含关节间隙多体系统的研究提供新的研究方法和理论基础。In order to study the effect of joint clearance on the dynamic characteristics of parallel mechanisms,a 3-CP aRR parallel mechanism was taken as an example.First,the kinematics of the parallel mechanism was studied synthetically by analyzing the constraints.It shows that the cylindrical pair of the parallel mechanism can be equivalent to a driving-sliding pair and a passive-revolute pair.Next,a normal distribution statistic model was used to establish the kinematic model of the revolute joint with clearance in radial direction and axial direction,and a branch kinematics model was also established.The normal contact force between the joint elements was evaluated based on the Flores contact model,and the tangential contact force was evaluated according to the modified Coulomb friction model.Then,the dynamic model of the parallel mechanism with joint clearance was established based on the non-holonomic systems Lagrange equation method.Finally,the effect of revolute joint clearance on the parallel mechanism’s kinematics and dynamic response was analyzed in detail through a numerical example.In addition,compared with the parameter of standard normal distribution model,the physical meaning of defining the initial contact clearance value asμwas analyzed.The research provides a new research approach and builds a theoretic foundation for the analysis of multi-body systems with clearance.

关 键 词：并联机构 关节间隙 运动学 动力学 

分 类 号：TH113[机械工程—机械设计及理论]