用连续接触模型进行含间隙转动副的空间机构动力学分析

Dynamics analysis of spatial mechanism with a revolute pair joint clearances using a continual contact model

本文建立了间隙Ｒ副的连续接触模型，并对含间隙Ｒ副的空间机构进行了动力学研究。采用希林（ｓｃｈｉｅｎｌｅｎ）方法建立了机构的动力学方程，通过数值解研究了运动副元素的分离特性和Ｒ副的运动特性。数值计算结果表明：Ｒ副元素的分离时间很短，这说明在研究含间隙Ｒ副机构的动力学问题时，采用连续接触模型是可行的。

This paper established a continuous contact model of R pair clearance and carried out a dynamic study of spatial mechanism containing R pair clearance.The dynamic equation of this mechanism is built by adopting the schienlen method.Characteristics of separation of kinematic pair elements and properties of motion of R pair havebeen studied through the solution of numerical value.The result of numerical calculation shows that the time of separation of R pair elements is very short,and this illustrates that while dynamic problems of the mechanism containing R pair is being studied the adoption of continual contact model is feasible.