考虑运动副间隙的平面连杆机构动力学分析  

Dynamic Analysis of Planar Linkage Mechanism Considering the Clearance of Kinematic Pair

作　　者：金国光[1,2] 侯旭睿 魏展[1,2] 王志敏 宋艳艳 Jin Guoguang;Hou Xurui;Wei Zhan;Wang Zhimin;Song Yanyan(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tiangong University,Tianjin University,Tianjin 300387,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津工业大学天津市现代机电装备技术重点实验室,天津300387

出　　处：《机械传动》2022年第9期59-66,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51475330,52005368)。

摘　　要：为了准确分析运动副间隙对机构动力学特性的影响,在Gonthier接触力模型基础上引入非线性刚度系数,得到改进的Gonthier模型,可以更加精确地描述运动副内的弹性力。基于平面四连杆机构并应用牛顿–欧拉方程,建立了含二状态间隙系统动力学方程;利用Adams软件仿真验证了间隙模型的正确性;分析不同间隙、转速、摩擦因数对机构摇杆加速度的影响,并研究了运动副内轴的接触、自由两种状态。结果表明,在一定条件下,轴在运动副内具有碰撞、接触、自由3种状态;系统稳定后,轴在运动副内始终处于接触状态,说明轴在运动副内的运动并不是随机碰撞;机构主要通过接触点变形产生的接触力而不是轴与轴承的碰撞力来传递动力。计算结果可以很好地预测间隙发生位置,对抑制间隙导致的机构振动、磨损等具有重要的理论价值。In order to accurately analyze the influence of the kinematic pair clearance on the mechanismdynamic characteristics,a nonlinear stiffness coefficient is introduced based on the Gonthier contact force mod-el,and an improved Gonthier model is obtained,which can more accurately describe the elastic force in the ki-nematic pair. The system dynamic equation of planar four-bar linkage with two-state clearance is established us-ing Newton Euler equation,and the correctness of the clearance model is verified by Adams. The influence ofdifferent clearance,rotation speed and friction coefficient on the acceleration of the rocker is analyzed,and thecontact and free states of the inner shaft of the kinematic pair are studied. The results show that the shaft hasthree states of collision,contact and freedom under certain conditions. After the system becomes stable,theshaft is always in contact with the kinematic pair,which indicates that the motion of the shaft in the kinematicpair is not random collision. The driving force of the mechanism is mainly transmitted by the contact force gener-ated by the deformation of the contact point,rather than the collision force between the shaft and the bearing.The results can predict the position of the clearance,and have important theoretical value for restraining the vi-bration and wear of the mechanism caused by the clearance.

关 键 词：接触力模型 运动副间隙 碰撞 动力学 

分 类 号：TH112.1[机械工程—机械设计及理论]