考虑球面副磨损间隙的空间并联机构动力学响应分析  

Dynamic response analysis of spatial parallel mechanism considering wear clearance of spherical joint

作　　者：陈修龙[1] 张昊 樊慧凯 CHEN Xiulong;ZHANG Hao;FAN Huikai(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,山东青岛266590

出　　处：《振动工程学报》2025年第3期490-498,共9页Journal of Vibration Engineering

基　　金：山东省自然科学基金资助项目(ZR2022ME040)。

摘　　要：为了掌握球面副磨损间隙对空间并联机构动力学响应特性的影响,提出考虑多球面副磨损间隙的空间并联机构动力学建模与响应特性的分析方法。以3SPS-S空间并联机构为研究对象,基于Archard磨损模型建立球面副间隙处的磨损模型,通过计算磨损深度,并对磨损表面进行重构,得到磨损后的球头与球窝,建立考虑球面副磨损间隙的空间并联机构动力学模型,求解得到数值结果,对比分析磨损前/后机构动力学响应的变化,并分析初始间隙值、有/无负载对磨损后机构动力学响应的影响。结果表明,磨损后的非规则间隙对并联机构动态特性带来不利的影响,且增大间隙值和引入负载降低了并联机构运行的稳定性。In order to grasp the influence of wear clearance of spherical pair on dynamic response characteristics of spatial parallel mechanism,a dynamic modeling and response analysis method for spatial parallel mechanism considering the wear of spherical joints is proposed.The 3SPS-S spatial parallel mechanism is taken as the research object.The wear model of the spherical joint clearance is established based on the Archard wear model,the worn ball head and ball socket are obtained by calculating the wear depth and surface geometric reconstruction,and the dynamic model of the parallel mechanism considering spherical joint wear is established.The numerical results are obtained by solving the above dynamic model.The change of dynamic response of mechanism before and after wear is compared and analyzed,and the influence of initial clearance value and load on dynamic response of mechanism after wear is obtained.The results show that the worn irregular clearance has adverse effects on the dynamic characteristics of the parallel mechanism,and the increase of clearance value and the introduction of load can reduce the stability of the parallel mechanism.

关 键 词：空间并联机构 动力学响应 球面副 磨损间隙 

分 类 号：O313.7[理学—一般力学与力学基础]