含关节间隙的3-CPaRR解耦并联机构弹性动力学建模与分析  

Elastic dynamic modeling and analysis for a 3-CPaRR decoupledparallel mechanism with joint clearance

作　　者：王见 董虎 王兆东 刘俊辰 曹毅 WANG Jian;DONG Hu;WANG Zhaodong;LIU Junchen;CAO Yi(School of Mechanical Engineering,Jiangnan University,Wuxi 214122,China;State Key Lab of Robotics and System,Harbin 150080,China;Jiangsu Provincial Key Lab of Advanced Food Manufacturing Equipment and Technology,Wuxi 214122,China)

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]机器人技术与系统国家重点实验室,哈尔滨150080 [3]江苏省食品先进制造装备技术重点实验室,江苏无锡214122

出　　处：《振动与冲击》2020年第5期118-130,共13页Journal of Vibration and Shock

基　　金：国家自然科学基金(51505190);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,KYCX18_1846,KYCX18_0630);江苏省普通高校专业学位研究生实践创新计划项目(SJCX17_0486);高等学校学科创新引智计划(B18027)。

摘　　要：为研究关节间隙对柔性化条件下并联机构输出运动特性的影响,以3-CPaRR并联机构为研究对象。首先,根据该并联机构的空间位置关系,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;其次,基于空间位置矢量模型,建立了含间隙转动关节径向和轴向的运动学模型,从而进一步建立各支链转动关节处含间隙的运动学模型;然后,基于Lankarani-Nikravesh接触力模型和Coulomb摩擦力模型建立各支链转动副处存在关节间隙时的法向、切向力学模型,并将各被动关节处由于间隙的存在而产生的力向驱动关节处进行转化,从而建立了含关节间隙的3-CPaRR并联机构弹性动力学模型,最后通过实例分析了不同的关节间隙对该并联机构运动特性的影响。结果表明:含有关节间隙的柔性支链对并联机构的输出运动特性产生了重要的影响,同时该研究也为其他的含关节间隙的多体系统弹性动力学建模提供了理论基础。In order to study effects of joint clearance on output kinematic characteristics of a parallel mechanism under flexible condition,a 3-CPaRR parallel mechanism was taken as the study object.Firstly,according to this mechanism’s spatial position relations,its kinematic laws were studied.It was shown that this mechanism’s driving cylindrical pair can equivalently be decomposed into a driving moving pair and a passive rotating one.Then,based on this mechanism’s spatial position vector model,the kinematic models of rotating joint with clearance in radial direction and axial one were established.Furthermore,various branched rotating joints with clearance’kinematic models were also established.Secondly,based on Lankarani-Nikravesh contact force model and Coulomb friction model,various branched rotating pairs with clearance’dynamic models in normal direction and tangential one were established.Then,forces produced due to clearance at passive joints were transferred to ones at driving joints to establish the elastic dynamic model for a 3-CPaRR parallel mechanism with joint clearance.Finally,effects of different joint clearances on this parallel mechanism’s kinematic responses were analyzed with actual examples.The results showed that flexible branches with joint clearance significantly affect output kinematic characteristics of a parallel mechanism;the study results provide a theoretical basis for elastic dynamic modeling of other multi-body systems with joint clearance.

关 键 词：并联机构 关节间隙 运动学 弹性动力学 

分 类 号：TH112[机械工程—机械设计及理论]