考虑润滑间隙效应的空间并联机构动力学优化  

Dynamic Optimization Method of Spatial Parallel Mechanism Considering Lubrication Clearance Effect

作　　者：陈修龙[1] 居硕 贾永皓 CHEN Xiulong;JU Shuo;JIA Yonghao(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》2024年第3期441-451,共11页Transactions of the Chinese Society for Agricultural Machinery

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：为了改善润滑间隙效应引起的空间并联机构动态性能的渐变劣化问题,以3-RRPaR冗余并联机构为研究对象,提出一种考虑润滑间隙效应的空间并联机构动力学优化方法。建立了考虑润滑转动副间隙的3-RRPaR冗余并联机构动力学模型;以优化末端执行器的动力学响应误差和优化间隙关节处的约束反力为目的设置目标函数,通过优化末端执行器质量以及转动惯量的方式来缓解运动副间隙导致的劣化效应,建立了考虑润滑间隙效应3-RRPaR冗余并联机构动力学优化模型;试验验证了所建动力学模型的有效性,对比分析两种目标函数对优化效果的影响以选择最佳优化方式,并分析优化前后考虑润滑间隙效应的空间并联机构动力学特性,结果表明动力学优化使润滑间隙转动副处约束反力峰值降低16.16%,为改善间隙效应提高空间并联机构动态性能提供了理论支撑。In order to improve the gradual deterioration of the dynamic performance of the spatial parallel mechanism caused by the lubrication clearance effect,a dynamic optimization method of the spatial parallel mechanism considering the lubrication clearance effect was proposed by taking the 3-RRPaR redundant parallel mechanism as the research object.Firstly,the kinematic model of the lubrication clearance of the revolute pair and the oil film bearing capacity model were established.The transition force model of the contact state was derived,and the dynamic model of the 3-RRPaR redundant parallel mechanism considering the lubrication clearance of the revolute pair was established.Then,the objective function was set up to optimize the dynamic response error of the end-effector and the constraint reaction force at the clearance joint.By optimizing the quality of the end-effector and the moment of inertia,the degradation effect caused by the clearance of the kinematic pair was alleviated,and the dynamic optimization model of the 3-RRPaR redundant parallel mechanism considering the lubrication clearance effect was established.Finally,the effectiveness of the established dynamic model was experimentally verified,the influence of the two objective functions on the optimization effect was compared and analyzed to select the best optimization method,and the dynamic characteristics of the spatial parallel mechanism considering the lubrication clearance effect before and after optimization were analyzed.The results showed that the optimization reduced the peak value of the constraint reaction force at the lubrication clearance revolute joint by 16.16%.The research result can provide theoretical support for improving the dynamic performance of spatial parallel mechanism by improving the clearance effect.

关 键 词：空间并联机构 运动副间隙 润滑 优化设计 

分 类 号：TH113[机械工程—机械设计及理论]