变工况条件下多万向铰驱动轴系的运动特性分析

Kinematic characteristic analysis of shafts driven by multiple universal joints in varying operating condition

为研究偏斜轴系过渡过程中的振动及其稳定性,研究了多万向铰轴系在变工况条件下的运动学特性。应用坐标变换的方向余弦矩阵法导出了双铰系统和多铰系统的角速度和角加速度波动的解析表达式,分析了主动轴加速情况下从动轴运动的变化规律,并进行了计算与分析,结果表明:与定常工况相比,变工况(主动轴加速)导致更复杂的运动波动;运动波动周期随时间增大变短;随着主动轴角加速度的增大,角速度和角加速度的波动周期变短,角加速度波动幅度增大;中间轴两端轴叉共面比中间轴两端轴叉垂直引起的运动波动幅度小。研究工作对进一步确定万向铰驱动的偏斜轴系的动力学行为具有重要的意义。

For studying the vibration and stability of misaligned shafts on transition process,the kinematic characteristic of shafts driven by multiple universal joints in varying operating condition was analyzed.Through direction cosine matrix of coordinate transformation analytic expressions for angular velocity and angular acceleration of systems driven by double and multiple universal joints.The kinematic variety rule of driven shaft considering the acceleration of driving shaft was analyzed,the results indicate that kinematic fluctuating is more complicated;the periods of kinematic fluctuating decrease with the time;the periods of angular velocity and angular acceleration fluctuating decrease and the amplitudes of angular acceleration fluctuating increase with increasing of angular acceleration of driving shaft;the fluctuating amplitude is bigger when two yokes of middle shaft were coplanar than they were perpendicular.The research result makes sense in confirming the nonlinear dynamic of misaligned shafts driven by universal joint.