基于熵权法的含间隙和柔性的机构定量分析方法及应用  

A quantitative analysis method of mechanism with clearance and flexibility based on entropy weight method and its application

作　　者：潘佳煊 钱孟波[1] 孙福兴 虞浪 陈强[1] PAN Jiaxuan;QIAN Mengbo;SUN Fuxing;YU Lang;CHEN Qiang(College of Optical,Mechanical and Electrical Engineering,Zhejiang A&F University,Hangzhou 311300,China)

机构地区：[1]浙江农林大学光机电工程学院,杭州311300

出　　处：《振动与冲击》2023年第19期40-48,共9页Journal of Vibration and Shock

基　　金：国家自然科学基金(51875531)。

摘　　要：含间隙机构运动过程中呈现出非线性,为了更好的模拟含间隙机构实际工况,对局部构件做柔性化处理,在建立间隙机构动力学模型的基础上,利用ADAMS二次开发功能,通过Fortran语言自主编写接触力的求解子程序,加载到ADAMS函数求解库中,实现接触模式实时判别和接触力的求解,分析考虑间隙和局部构件柔性对机构的运动特性影响规律。采用Lyapunov指数验证其运动非线性,并在此基础上提出一种基于熵权法的非线性定量分析新方法,通过MATLAB编写熵权法程序并对仿真结果进行定量分析,评估间隙和构件柔性对机构非线性的影响程度,并将该方法应用于2-RR&2-PR并联机构运动特性研究。结果表明:在任何条件下,动平台X方向加速度熵权值最大,说明对非线性影响权重最高,通过分析不同因素对机构非线性影响程度的趋势,使得对机构非线性程度的描述更为准确,为未来含间隙机构非线性定量分析提供了理论参考。Here,to better simulate actual working conditions of a parallel mechanism with clearance exhibiting nonlinearity during its motion process,flexibility treatment was performed for its local components.Based on establishing the dynamic model of the mechanism with clearance,the software ADAMS secondary development function was utilized to independently write a contact force solving subroutine with Fortran language,it was loaded into ADAMS function solving library to realize real-time discrimination of contact modes and solving contact forces,and analyze effects of considering gaps and local component flexibility on motion characteristics of the mechanism.Using Lyapunov exponent to verify its motion nonlinearity,a new nonlinear quantitative analysis method based on entropy weight method was proposed.The entropy weight method program was written in MATLAB and the simulation results obtained with this program were quantitatively analyzed to evaluate influence degrees of clearance and component flexibility on nonlinearity of the mechanism.This method was applied in studying motion characteristics of 2-RR&2-PR parallel mechanism.The results showed that under any condition,the acceleration entropy weight value in X direction of moving platform is the maximum,so the weight of nonlinearity level is the highest;analyzing trends of different factors’influence degrees on nonlinearity level of the mechanism can make the description for nonlinearity level of the mechanism be more accurate,and provide a theoretical reference for future nonlinear quantitative analysis of mechanisms with gaps.

关 键 词：间隙 构件柔性 熵权法 定量分析 并联机构 

分 类 号：TH113[机械工程—机械设计及理论]