摘要
为了研究含间隙运动副对连杆机构动态性能的影响,基于能够描述碰撞过程中能量损失的连续接触模型,建立了一个新的耗散型接触力模型.在这个新模型下对含间隙连杆机构进行动力学仿真,并进行了实验研究.主要考察了间隙尺寸和加载强度对连杆受力的影响.结果表明:间隙的存在会影响传递力曲线,使机构产生明显的振动冲击,间隙大小和加载速度是影响机构动态响应的主要因素.该仿真结果得到了实验的验证.
To explore the influence of kinematic pair with clearances on the dynamic performance of linkage mechanism, a new dissipative contact force model is established based on the continuous contact model which can describe energy loss in collision. Using the new model, the dynamics behavior of linkage mechanism with clearances is simulated, and an experiment is conducted. The influence of the clearance size and loading strength to force on linkage is studied. The results show that the existence of clearance will influence the transfers force curve and make the mechanism produce obvious vibration impact. The main factors that influence mechanismts dynamic response are clearance size and loading velocity. The simulation results are validated by the experiment.
出处
《大连理工大学学报》
EI
CAS
CSCD
北大核心
2016年第3期221-229,共9页
Journal of Dalian University of Technology
基金
"九七三"国家重点基础研究发展计划资助项目(2011CB706504)
关键词
间隙
接触力模型
碰撞
操作机
连杆机构
clearance
contact force model
collision
manipulator
linkage mechanism
