含铰间隙平面连杆机构动力学建模与仿真向量键合图法

Vector bond graph method for the dynamic modeling and simulation of planar linkages with joint clearances

为提高含铰间隙平面连杆机构动力学建模与仿真的效率及可靠性,提出了相应的向量键合图法。通过无质量杆-弹簧阻尼元件来描述旋转铰间隙,建立其向量键合图模型。在此基础上,给出了含铰间隙平面连杆机构向量键合图模型的建立方法。针对该类机构向量键合图模型的微分因果环问题,提出了有效的解决方法,克服了其给机构自动建模与仿真所带来的代数困难。应用相应的算法,实现了含铰间隙的机电耦合系统计算机辅助动力学建模与仿真。通过实际算例验证了所述方法的可靠性和有效性。

For improving the reliability and efficiency of the dynamic modeling and simulation for planar linkages with joint clearances,a corresponding vector bond graph procedure was proposed. By using the massless-link/springdamper element to describe revolute joint clearances,a corresponding vector bond graph model was created. Based on this,the procedure for modeling planar linkages with joint clearances was provided. Aiming at the problem of differential causality loop in the mechanism vector bond graph model,a corresponding effective method was introduced. As a result,the algebraic difficulty in the mechanism automatic modeling and simulation was overcome. By the aid of the corresponding algorithm,the computer aided dynamic modeling and simulation of mechatronic systems with joint clearances was realized.By a practical example system,the reliability and validity of the procedure proposed were verified.