含铰间隙RRR-RRP六连杆压力机机构动态仿真向量键合图法  

Vector Bond Graph Method for the Dynamic Simulation of RRR-RRP Six Bar Press Linkage with Joint Clearance

作　　者：王中双[1] 韦晶 尹久政 Wang Zhongshuang;Wei Jing;Yin Jiuzheng(School of Mechatronic Engineering,Qiqihar University,Qiqihar161006,China)

机构地区：[1]齐齐哈尔大学机电工程学院

出　　处：《机械传动》2019年第9期22-27,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51175272)

摘　　要：针对含铰间隙RRR-RRP六连杆压力机机构动力学建模与仿真问题,提出了相应的向量键合图法。在考虑旋转铰间隙及复合铰的条件下,建立了含铰间隙RRR-RRP六连杆压力机机构向量键合图模型。应用相应的方法,解决了机构向量键合图模型的微分因果关系给计算机自动建模所带来的代数困难。在此基础上,实现了含铰间隙RRR-RRP六连杆压力机机构动力学计算机自动建模及仿真,分析了运动副间隙对刀具加速度、机构构件角加速度、质心加速度及运动副约束反力的影响,说明了所述方法的可靠性及有效性。For the dynamic modeling and simulation of RRR-RRP six bar press linkage with joint clearance,the corresponding vector bond graph procedure is proposed.Under the condition of considering revolute joint clearance and compound revolute joint,the vector bond graph model of RRR-RRP six bar press linkage is established.By the corresponding method,the algebraic difficulty brought by differential causality of the mechanism vector bond graph model in automatic modeling and simulation is solved.Based on these,the computer automatic dynamic modeling and simulation of RRR-RRP six bar press linkage with joint clearance is realized, and the effect of joint clearance to the cutter acceleration,mechanism component angular acceleration,centroid acceleration of mechanism component and joint constraint force is analyzed.Finally,the reliability and validity of the procedure proposed are illustrated.

关 键 词：向量键合图 动态仿真 铰间隙 复合铰 RRR-RRP六连杆压力机机构 微分因果关系 

分 类 号：TH112[机械工程—机械设计及理论]