轮-阜机构的动力学模拟  

Dynamics modelling of the wheel-hump mechanism

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作  者:袁迪 袁卫锋[1] YUAN Di;YUAN Weifeng(School of Manufacturing Science and Engineering,Southwest University of Science and Technology,Mianyang,621010,China)

机构地区:[1]西南科技大学制造科学与工程学院,绵阳621010

出  处:《应用力学学报》2024年第3期659-665,共7页Chinese Journal of Applied Mechanics

基  金:国家自然科学基金资助项目(No.12072300)。

摘  要:受滚木运输的启发,设计了一种轮-阜复摆互动机构,通过在两个平面上分别构造摆轮和凸台阵列,可实现平面之间的平稳滑动。为了研究滑动中接触面间法向力和切向力的关系,建立了轮-阜机构的系统动力学微分方程,并基于Runge-Kutta方法提出一种迭代算法对之求解,计算摆轮和凸台相互碰撞所产生的滑动阻力。数值仿真结果表明,合理设置轮-阜机构的几何参数,可以减少接触面相互滑动中的能量损耗,从而大幅提高法向载荷和等效切向阻力之间的比值。在理论分析的基础上,制造了相应的实物模型进行实验验证,结果显示该机构可以实现平稳的滑动,且切向驱动力可低于法向载荷的百分之一,从而验证了该机构的可行性。Inspired by transportation using rolling logs,a compound-pendulum-hump interaction mechanism was designed.Through constructing an array of pendulum wheels and humps on the two surfaces,respectively,smooth relative sliding between the surfaces can be achieved.To investigate the relationship between the normal force and the tangential force in the sliding,the dynamical differential equations of the wheel-hump mechanism were established.An iterative algorithm was proposed based on Runge-Kutta method to solve the equations to calculate the sliding resistance induced by the collision between the pendulum wheels and the humps.The simulation results indicated that the energy loss in the sliding could be reduced by setting proper geometrical parameters of the proposed mechanism,so that the ratio of the normal load to the equivalent transversal resistance could be improved significantly.Based on the theoretical analysis,a prototype was fabricated for experimental verification.The results showed that smooth sliding could be achieved.Meanwhile,the tangential driving force could be less than one percent of the normal load,verifying the feasibility of the mechanism.

关 键 词:刚体碰撞 动力学仿真 轮-阜结构 RUNGE-KUTTA方法 摩擦副 

分 类 号:TB122[理学—工程力学] TH122[理学—力学]

 

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