含多球铰间隙并联机构动力学建模与响应分析  

Dynamic modeling and response analysis of parallel mechanisms with spherical hinge clearance

作　　者：陈修龙[1] 张昊 CHEN Xiulong;ZHANG Hao(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《哈尔滨工程大学学报》2023年第8期1397-1405,共9页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(52275115);山东省自然科学基金项目(ZR2022ME040).

摘　　要：为了分析多个球铰间隙对并联机构动力学响应的影响,本文以3-SPS-S空间并联机构为研究对象,在Flores法向接触力模型和改进的Coulomb摩擦力模型的基础上,推导出球铰间隙处的碰撞力模型。采用Lagrange乘子法建立了含多个球铰间隙的并联机构动力学模型。利用Matlab软件,通过四阶Runge-Kutta解法求解此模型,分析球铰间隙如何影响机构的动力学响应,并应用ADAMS软件虚拟样机仿真。研究表明:球面副间隙对动平台角加速度和间隙处的碰撞力影响较大,且间隙数量越多,机构稳定性越差。本文为考虑多个球铰间隙并联机构刚体动力学模型的建立和响应分析提供理论依据,对准确的预测和控制含球铰间隙机构的动力学特性具有重要意义。A 3-SPS-S spatial parallel mechanism is taken as the research object to analyze the influence of multiple spherical hinge clearances on the dynamic response of parallel mechanisms.The model of the collision force at the spherical joint clearance is derived on the basis of the Flores normal contact force model and the improved Coulomb friction model.The Lagrange multiplier method is applied to establish the dynamic model of parallel mechanisms with multiple spherical joint clearances.By using the software Matlab,the fourth-order Runge-Kutta is utilized to solve the model and analyze how ball joint clearance affects the dynamic response of the mechanisms.The software ADAMS is applied for virtual prototype simulation.This work provides a theoretical basis for the establishment and response analysis of the rigid body dynamic model of parallel mechanisms with multiple spherical hinge clearances.The study shows that the spherical pair clearance has a significant impact on the angular acceleration of the moving platform and the collision force at the clearance.The more clearances there are,the less stable the mechanism is.Accurately predicting and controlling the dynamic characteristics of mechanisms with multiple spherical hinge clearances is of great importance.

关 键 词：并联机构 多球铰间隙 LAGRANGE乘子法 动力学模型 碰撞力模型 四阶Runge-Kutta法 动力学响应 虚拟样机仿真 

分 类 号：TH113[机械工程—机械设计及理论]