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考慮混合間隙的空間并聯(lián)機(jī)構(gòu)非線性動力學(xué)特性分析
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國家自然科學(xué)基金項(xiàng)目（52275115）


Dynamic Characteristics Analysis of Spatial Parallel Mechanism with Compound Clearances
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    摘要:

    為了掌握同時考慮球面副間隙和三維轉(zhuǎn)動副間隙的空間并聯(lián)機(jī)構(gòu)的非線性動力學(xué)特性，研究考慮混合間隙的空間并聯(lián)機(jī)構(gòu)多體系統(tǒng)動力學(xué)特性分析方法。首先以4-UPS/RPU空間并聯(lián)機(jī)構(gòu)為研究對象，建立三維轉(zhuǎn)動副間隙和球面副間隙的模型，推導(dǎo)同時考慮球面副間隙和三維轉(zhuǎn)動副間隙的4-UPS/RPU空間并聯(lián)機(jī)構(gòu)動力學(xué)方程；然后利用龍格庫塔法對動力學(xué)方程進(jìn)行數(shù)值求解，分析不同間隙類型、間隙、驅(qū)動速度和摩擦因數(shù)對并聯(lián)機(jī)構(gòu)動力學(xué)響應(yīng)的影響，通過ADAMS虛擬樣機(jī)仿真驗(yàn)證動力學(xué)模型和數(shù)值計算的正確性；最后利用相軌跡圖、龐加萊映射圖和分岔圖等分析考慮混合間隙的4-〗UPS/RPU并聯(lián)機(jī)構(gòu)的非線性特性。該研究為考慮混合運(yùn)動副間隙的空間并聯(lián)機(jī)構(gòu)動力學(xué)建模和非線性動力學(xué)特性分析提供了依據(jù)。

    Abstract:

    In order to grasp the nonlinear dynamic characteristics of space parallel mechanism considering spherical joint clearances and three-dimensional revolute joint clearances, the dynamic characteristics analysis method of space parallel mechanism multi-body system considering compound clearances was studied. Firstly, taking 4-UPS/RPU spatial parallel mechanism as research object, the models of three-dimensional revolute joint clearances and spherical joint clearances were established, and the dynamic equation of 4-UPS/RPU spatial parallel mechanism considering both spherical joint clearances and three-dimensional revolute joint clearance was derived. Then the dynamic equation was solved numerically by Runge-Kutta method, and the effects of different clearance types, clearance values, driving speed and friction coefficient on the dynamic response of parallel mechanism were analyzed. The correctness of dynamic model and numerical calculation was verified by simulation of ADAMS virtual prototype. Finally, nonlinear characteristics of 4-UPS/RPU parallel mechanism with compound clearances were considered by phase diagram, Poincare map and bifurcation diagram. The research provided a basis for dynamic modeling and nonlinear dynamic analysis of spatial parallel mechanism considering compound joint clearances.

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陳修龍,郭景堯,王景慶,趙飛躍.考慮混合間隙的空間并聯(lián)機(jī)構(gòu)非線性動力學(xué)特性分析[J].農(nóng)業(yè)機(jī)械學(xué)報,2023,54(12):431-448. CHEN Xiulong, GUO Jingyao, WANG Jingqing, ZHAO Feiyue. Dynamic Characteristics Analysis of Spatial Parallel Mechanism with Compound Clearances[J]. Transactions of the Chinese Society for Agricultural Machinery,2023,54(12):431-448.

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  • 收稿日期:2023-05-29
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  • 在線發(fā)布日期: 2023-06-28
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