基于绝对节点坐标方法的柔顺机构动力学建模与仿真  

Dynamics Modeling and Simulation of Compliant Mechanisms Using Absolute Nodal Coordinate Formulation

作　　者：张志刚 周翔 房占鹏 肖艳秋 ZHANG Zhigang;ZHOU Xiang;FANG Zhanpeng;XIAO Yanqiu(Henan Key Laboratory of Intelligent Manufacturing of Mechanical Equipment,Zhengzhou University of Light Industry,Zhengzhou 450002,China)

机构地区：[1]郑州轻工业大学河南省机械装备智能制造重点实验室,河南郑州450002

出　　处：《郑州大学学报（工学版）》2020年第2期50-55,共6页Journal of Zhengzhou University（Engineering Science）

基　　金：国家自然科学基金资助项目(11602228,51805491);河南省科技攻关项目(202102210285);郑州轻工业大学博士科研基金资助项目(2016BSJJ016)。

摘　　要：采用绝对节点坐标方法系统地研究了大变形柔顺杆的建模问题,建立了柔顺机构刚柔耦合动力学方程。在充分考虑柔顺杆与外部连接处变形特征基础上,提出了含端部变形约束的绝对节点坐标梁单元。应用闭锁问题缓解方法,考察了绝对节点坐标梁单元闭锁现象对柔顺机构动力学仿真的影响。最后通过数值算例检验了绝对节点坐标方法对于柔顺机构动力学问题的精确性和有效性。The modeling method for the compliant rod with large deformation was studied by using absolute nodal coordinate method,and the rigid-flexible coupling dynamic equations of the compliant mechanism were established.Considering the deformation characteristics of the compliant rod at the external connection,the new ANCF beam element with end deformation constraints was proposed.Based on the locking alleviation technique,the effect of the locking phenomenon of the absolute nodal coordinate beam element on the dynamic simulation of compliant mechanism was investigated.Finally,numerical examples were given to verify the accuracy and effectiveness of the absolute nodal coordinate method for the dynamic problems of compliant mechanisms.

关 键 词：柔顺机构 绝对节点坐标方法 大变形 刚柔耦合 动力学仿真 

分 类 号：TH113[机械工程—机械设计及理论]