考虑滑动副间隙空间机构的动力学研究

Research on the dynamics of spatial mechanisms with clearances in prismatic pairs

本文进行了含间隙滑动副（Ｐ副）空间机构的动力学研究。以ＲＳＳＰ机构为例，建立了机构的动力学方程并给出了数值解，计算结果表明，间隙对机构速度、加速度影响比较小，不象其它间隙运动副如圆柱副、回转副那样，对速度影响较小，而对加速度影响较大。

The dynamics of spatial mechanism with clearance in prismatic pair is studied.Taking the RSSP mechanism as a example,the dynamic equation of mechanism was established and the numerical solution was given.The results show that the effect of clearance on velocity and acceleration is all less.This is different to the effect of clearances in cylinder and revolute kinematic pairs in which the effect of clearance on velocity is less and the effect on acceleration is larger.