含间隙变胞机构动力学建模与平稳性分析  

Dynamic Modeling and Stationarity Analysis of Metamorphic Mechanism with Clearance Joint

作　　者：金国光[1,2] 王志敏 畅博彦 梁栋[1,2] 周杨 JIN Guoguang;WANG Zhimin;CHANG Boyan;LIANG Dong;ZHOU Yang(School of Mechanical Engineering,Tiangong University,Tianjin 300387;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tianjin 300387)

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

出　　处：《机械工程学报》2024年第21期144-155,共12页Journal of Mechanical Engineering

基　　金：国家自然科学基金(52005368,51275330,52175243);天津市高等学校创新团队培养计划(TD13-5037)资助项目。

摘　　要：研究含间隙变胞机构对机械设计与制造具有重要的理论意义和实际应用价值。建立含间隙关节变胞机构动力学模型,并给出含间隙关节变胞机构运动平稳性的一般分析方法。以含间隙关节平面五杆变胞机构为例,采用L-N接触力模型和改进的库伦摩擦力模型模拟间隙关节处的法向接触力与切向摩擦力,基于Newton-Euler方程建立含间隙关节变胞机构动力学模型。重点研究间隙对变胞机构运动精度的影响,利用均方根误差和无量纲系数给出一种定量精度分析方法。研究了曲柄转速、间隙值和摩擦系数对变胞机构运动平稳性的影响。结果表明,随着曲柄转速和间隙值的增加,机构振动加剧,运动平稳性降低;含间隙变胞机构动力学具有很强的非线性特性,对间隙参数的变化具有极强的敏感性和依赖性。The metamorphic mechanisms with clearance joint are studied to have important theoretical significance and practical application value for mechanical design and manufacture.The dynamic model of the metamorphic mechanism with clearance joint is established,and the general analysis method of the motion stationarity of the metamorphic mechanism with clearance joint is given.Taking the planar five-bar metamorphic mechanism with clearance joint as an example,the L-N contact force model and the modified Coulomb friction force model are used to simulate the normal contact force and tangential friction force at the clearance joint,and the dynamic model of the metamorphic mechanisms with clearance joint is established based on the Newton-Euler method.The influence of the existence of clearance on motion precision of the metamorphic mechanisms is mainly studied,and a quantitative precision analysis method is presented by using root mean square error and coefficient of variation.The effects of crank speed,clearance size and friction coefficient on the motion stationarity of the metamorphic mechanisms with clearance joint are studied.The results show that as the crank speed and clearance value increase,the vibration of the mechanism intensifies and the stationarity of motion decreases.Dynamics of the metamorphic mechanisms with clearance joint has strong nonlinear characteristics,and has highly sensitive and dependent on the change of clearance parameters.

关 键 词：变胞机构 间隙关节 动力学 非线性特性 平稳性分析 

分 类 号：TH113[机械工程—机械设计及理论]