考虑混合间隙的空间并联机构非线性动力学特性分析  

Dynamic Characteristics Analysis of Spatial Parallel Mechanism with Compound Clearances

作　　者：陈修龙[1] 郭景尧 王景庆 赵飞跃 CHEN Xiulong;GUO Jingyao;WANG Jingqing;ZHAO Feiyue(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,青岛266590

出　　处：《农业机械学报》2023年第12期431-448,共18页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(52275115)。

摘　　要：为了掌握同时考虑球面副间隙和三维转动副间隙的空间并联机构的非线性动力学特性,研究考虑混合间隙的空间并联机构多体系统动力学特性分析方法。首先以4-UPS/RPU空间并联机构为研究对象,建立三维转动副间隙和球面副间隙的模型,推导同时考虑球面副间隙和三维转动副间隙的4-UPS/RPU空间并联机构动力学方程;然后利用龙格库塔法对动力学方程进行数值求解,分析不同间隙类型、间隙、驱动速度和摩擦因数对并联机构动力学响应的影响,通过ADAMS虚拟样机仿真验证动力学模型和数值计算的正确性;最后利用相轨迹图、庞加莱映射图和分岔图等分析考虑混合间隙的4-UPS/RPU并联机构的非线性特性。该研究为考虑混合运动副间隙的空间并联机构动力学建模和非线性动力学特性分析提供了依据。In order to grasp the nonlinear dynamic characteristics of space parallel mechanism considering spherical joint clearances and three-dimensional revolute joint clearances,the dynamic characteristics analysis method of space parallel mechanism multi-body system considering compound clearances was studied.Firstly,taking 4-UPS/RPU spatial parallel mechanism as research object,the models of threedimensional revolute joint clearances and spherical joint clearances were established,and the dynamic equation of 4-UPS/RPU spatial parallel mechanism considering both spherical joint clearances and three-dimensional revolute joint clearance was derived.Then the dynamic equation was solved numerically by Runge-Kutta method,and the effects of different clearance types,clearance values,driving speed and friction coefficient on the dynamic response of parallel mechanism were analyzed.The correctness of dynamic model and numerical calculation was verified by simulation of ADAMS virtual prototype.Finally,nonlinear characteristics of 4-UPS/RPU parallel mechanism with compound clearances were considered by phase diagram,Poincare map and bifurcation diagram.The research provided a basis for dynamic modeling and nonlinear dynamic analysis of spatial parallel mechanism considering compound joint clearances.

关 键 词：空间并联机构 混合间隙 动力学模型 动力学响应 非线性特性 

分 类 号：TH113[机械工程—机械设计及理论]