含多关节间隙平面柔性六杆机构的动力学分析  

Dynamic analysis of planar flexible six-bar mechanism with multi-joint clearances

作　　者：金国光[1,2] 何升 魏展[1,2] 王志敏 刘军 JIN Guoguang;HE Sheng;WEI Zhan;WANG Zhimin;LIU Jun(School of Mechanical Engineering,Tiangong University,Tianjin 30087,China;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tiangong University,Tianjin 300387,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津工业大学天津市现代机电装备技术重点实验室,天津300387

出　　处：《天津工业大学学报》2024年第4期75-81,共7页Journal of Tiangong University

基　　金：国家自然科学基金资助项目(51475330);天津市高校创新团队项目(TD13-5037)。

摘　　要：为提高机构的动力学分析精度,基于平面六杆机构,同时考虑多个关节间隙与构件柔性对多体机构动力学响应的影响。通过实体建模和引用ADAMS软件中“冲击函数”接触力模型,对含有多个间隙关节与柔性连杆的六杆机构进行动力学模拟仿真,研究间隙数量、间隙位置、间隙大小、柔性连杆及其与间隙耦合对系统动力学性能影响。研究结果表明:与单关节间隙相比,多关节间隙会产生更大的接触力,导致构件的加速度波动更加剧烈;间隙关节距离电机位置越近,则对机构的动力学行为影响越明显;考虑连杆柔性时,可以极大地降低间隙对机构动力学波动的影响。In order to improve the accuracy of dynamic analysis,the effects of multi-clearance joints and component flexibility on the dynamic response of multi-body mechanisms is considered,based on the planar six-bar mechanism.The dynamic simulation of the six-bar mechanism with multi-clearance joints and flexible connecting rod is carried out by solid modeling and citing the"impact function"contact force model in ADAMS software.The system dynamics under clearance number,clearance position,clearance size,flexible connecting rod and clearance coupling are investigated.The simulation results show that compared with the single clearance joint,the multi-clearance joints will produce greater contact force,resulting in more intense acceleration fluctuation of the component.The closer the clearance joint to the motor position,the more obvious the influence on the dynamic behavior of the mechanism.The influence of clearance on the dynamic fluctuation of the mechanism can be greatly reduced when considering the flexibility of the connecting rod.

关 键 词：多关节间隙 接触力 柔性连杆 动力学 六杆机构 

分 类 号：TH113[机械工程—机械设计及理论]