含间隙的平面四杆机构运动特性分析

Kinetic Characteristic Analysis of Planar Four-bar Linkage with Multiple Clearances at Turning Pairs

利用连续接触模型把含间隙机构转化为多构件多自由度的无间隙机构进行分析,结合拉格朗日方程推导出机构的动力学方程,并建立形式简单、适于计算机编程计算的矩阵形式的含间隙机构运动学输出表达式模型。通过对机构的动力学方程进行数值积分和矩阵运算求得机构的运动特性,进一步讨论了间隙大小、主动件转速对运动特性的影响。

By continuous contact model,linkage with clearances was transformed into linkage that has many freedoms and bars without clearance.Dynamic equation of mechanism was then deducted from Lagrange equation,and matrix kinetic output expression about mechanism was established.The expression model was simply in form and fit for computing with computer program.By the numerical integral of the dynamic equation of mechanism and matrix operation,kinetic characteristics of linkage were gotten.The effect of clearances on the kinetic characteristics was discussed from several respects for further.