Dynamic Analysis of Planar Linkage Mechanism Considering the Clearance of Kinematic Pair

Guoguang Jin; Xurui Hou; Zhan Wei; Zhimin Wang; Yanyan Song

doi:10.16578/j.issn.1004.2539.2022.09.008

您当前的位置：

首页 >

文章列表页 >

Dynamic Analysis of Planar Linkage Mechanism Considering the Clearance of Kinematic Pair

Design· Calculation | 更新时间：2022-09-26

- Dynamic Analysis of Planar Linkage Mechanism Considering the Clearance of Kinematic Pair
- Journal of Mechanical Transmission Vol. 46, Issue 9, Pages: 59-66(2022)
- 作者机构：
  
  1.天津工业大学机械工程学院，天津 300387
  2.天津工业大学天津市现代机电装备技术重点实验室，天津 300387
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.09.008
  CLC：
扫描看全文
金国光,侯旭睿,魏展等.考虑运动副间隙的平面连杆机构动力学分析[J].机械传动,2022,46(09):59-66.

Jin Guoguang,Hou Xurui,Wei Zhan,et al.Dynamic Analysis of Planar Linkage Mechanism Considering the Clearance of Kinematic Pair[J].Journal of Mechanical Transmission,2022,46(09):59-66.
金国光,侯旭睿,魏展等.考虑运动副间隙的平面连杆机构动力学分析[J].机械传动,2022,46(09):59-66. DOI： 10.16578/j.issn.1004.2539.2022.09.008.

Jin Guoguang,Hou Xurui,Wei Zhan,et al.Dynamic Analysis of Planar Linkage Mechanism Considering the Clearance of Kinematic Pair[J].Journal of Mechanical Transmission,2022,46(09):59-66. DOI： 10.16578/j.issn.1004.2539.2022.09.008.

摘要

为了准确分析运动副间隙对机构动力学特性的影响，在Gonthier接触力模型基础上引入非线性刚度系数，得到改进的Gonthier模型，可以更加精确地描述运动副内的弹性力。基于平面四连杆机构并应用牛顿–欧拉方程，建立了含二状态间隙系统动力学方程；利用Adams软件仿真验证了间隙模型的正确性；分析不同间隙、转速、摩擦因数对机构摇杆加速度的影响，并研究了运动副内轴的接触、自由两种状态。结果表明，在一定条件下，轴在运动副内具有碰撞、接触、自由3种状态；系统稳定后，轴在运动副内始终处于接触状态，说明轴在运动副内的运动并不是随机碰撞；机构主要通过接触点变形产生的接触力而不是轴与轴承的碰撞力来传递动力。计算结果可以很好地预测间隙发生位置，对抑制间隙导致的机构振动、磨损等具有重要的理论价值。

Abstract

In order to accurately analyze the influence of the kinematic pair clearance on the mechanism dynamic characteristics， a nonlinear stiffness coefficient is introduced based on the Gonthier contact force model， and an improved Gonthier model is obtained， which can more accurately describe the elastic force in the kinematic pair. The system dynamic equation of planar four-bar linkage with two-state clearance is established using Newton Euler equation， and the correctness of the clearance model is verified by Adams. The influence of different clearance， rotation speed and friction coefficient on the acceleration of the rocker is analyzed， and the contact and free states of the inner shaft of the kinematic pair are studied. The results show that the shaft has three states of collision， contact and freedom under certain conditions. After the system becomes stable， the shaft is always in contact with the kinematic pair， which indicates that the motion of the shaft in the kinematic pair is not random collision. The driving force of the mechanism is mainly transmitted by the contact force generated by the deformation of the contact point， rather than the collision force between the shaft and the bearing. The results can predict the position of the clearance， and have important theoretical value for restraining the vibration and wear of the mechanism caused by the clearance.

关键词

接触力模型运动副间隙碰撞动力学

Keywords

Contact force modelClearance of kinematic pairCollisionDynamics

references

郑恩来，张航，朱跃，等.含间隙超精密压力机柔性多连杆机构动力学建模与仿真［J］.农业机械学报，2017，48（1）：375-385.

ZHENG Enlai，ZHANG Hang，ZHU Yue，et al.Dynamic modeling and simulation of flexible multi link mechanism of ultra precision press with clearance［J］.Journal of Agricultural Machinery，2017，48（1）：375-385.

王威，陈军，宋玉玲.含双间隙模型轿车转向系非线性动力学特性研究［J］.农业机械学报，2013，44（10）：41-46.

WANG Wei，CHEN Jun，SONG Yuling.Research on nonlinear dynamic characteristics of car steering system with double clearance model［J］.Journal of Agricultural Machinery，2013，44（10）：41-46.

LIU C S，ZHANG K，YANG L.The compliance contact model of cylindrical joints with clearances［J］.Acta Mechanica Sinica，2005，21（5）：451-458.

白争锋.考虑铰间间隙的机构动力学特性研究［D］.哈尔滨：哈尔滨工业大学，2011：49-89.

BAI Zhengfeng.Research on dynamic characteristics of mechanism considering clearance between hinges［D］.Harbin：Harbin Institute of Technology，2011：49-89.

王旭鹏.含间隙铰链机构非线性接触力和碰撞动力学研究［D］.西安：西北工业大学，2016：59-74.

WANG Xupeng.Research on nonlinear contact force and impact dynamics of hinge mechanism with clearance［D］.Xi´an：Northwest University of Technology，2016：59-74.

杨芳，陈渭，李培.接触力模型对含间隙铰接副多体系统分析的影响［J］.西安交通大学学报，2017，51（11）：106-117.

YANG Fang，CHEN Wei，LI Pei.Influence of contact force model on analysis of multi-body system with clearance joint［J］.Journal of Xi'an Jiaotong University，2017，51（11）：106-117.

郭嘉楠，何鹏，刘占生，等.粗糙接触面旋转铰间隙碰撞动力学建模与仿真［J］.振动与冲击，2019，38（11）：132-139.

GUO Jia'nan，HE Peng，LIU Zhansheng，et al.Dynamic modeling and simulation of rotating hinge clearance impact on rough contact surface［J］.Vibration and Impact，2019，38（11）：132-139.

秦志英，陆启韶.基于恢复系数的碰撞过程模型分析［J］.动力学与控制学报，2006，4（4）：294-298.

QIN Zhiying，LU Qishao.Analysis of collision process model based on coefficient of restitution［J］.Journal of Dynamics and Control，2006，4（4）：294-298.

魏展，金国光，李博，等.剑杆织机打纬凸轮接触碰撞力建模与仿真［J］.纺织学报，2020，41（3）：154-159.

WEI Zhan，JIN Guoguang，LI Bo，et al.Modeling and simulation of beating up cam contact impact force of rapier loom［J］.Acta Textile Sinica，2020，41（3）：154-159.

宿月文，郭彩霞，陈渭.微间隙共形圆柱接触力模型的适用性分析［J］.润滑与密封，2020，45（6）：106-113.

SU Yuewen，GUO Caixia，CHEN Wei.Applicability analysis of contact force model of micro gap conformal cylinder［J］.Lubrication and Sealing，2020，45（6）：106-113.

CHEN X L，TANG Y F.Dynamic modeling response and chaos analysis of 2-DOF hybrid mechanism with revolute Clearances［J］.Shock and Vibration，2020（17）：1-20.

姚廷强，陈锐搏，王立华，等.考虑三维圆柱铰间隙碰撞的空间机构柔性多体动力学分析方法［J］.振动与冲击，2021，40（1）：297-307.

YAO Tingqiang，CHEN Ruibo，WANG Lihua，et al.A flexible multi-body dynamic analysis method for spatial mechanisms considering three-dimensional cylindrical hinge clearance collision［J］.Vibration and Impact，2021，40（1）：297-307.

李金玉.考虑混合间隙的机构动力学研究［D］.哈尔滨：哈尔滨工业大学，2017：17-47.

LI Jinyu.Research on mechanism dynamics with mixed clearance［D］.Harbin：Harbin Institute of Technology，2017：17-47.

RAHMANIAN S，GHAZAVI M R.Bifurcation in planar slider-crank mechanism with revolute clearance joint［J］.Mechanism and Machine Theory，2015，91：86-101.

AHMEDALBASHIR M，ROMDHANE L，LEE J.Dynamics of a four-bar mechanism with clearance and springs-Modeling and experimental analysis［J］.Journal of Mechanical Science and Technology，2017，31（3）：1023-1033.

BASUMATARY S，SRINIVAS J，AKHIL P，et al.Dynamic analysis of partially compliant planar slider-crank mechanism with joint clearance［M］.Machines，Mechanisms and Robotics，2019：257-266.

EBRAHIMI S，SALAHSHOOR E，MORADI S.Vibration performance evaluation of planar flexible multibody systems with joint clearance［J］.Journal of the Brazilian Society of Mechanical Sciences and Engineering，2017，39（2）：1-15.

LUKA S，JANKO S，MIHA B.A review of continuous contact-force models in multibody dynamics［J］.International Journal of Mechanical Sciences，2018，145：171-187.

FLORES P，KOSHY C S，LANKARANI H M，et al.Numerical and experimental investigation on multibody systems with revolute clearance joints［J］.Nonlinear Dynamics，2011，65（4）：383-398.

GONTHIER Y，MCPHEE J，LANGE C，et al.A regularized contact model with asymmetric damping and dwell-time dependent friction［J］.Multibody System Dynamics，2004，11（3）：209-233.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Structural Design and Obstacle-surmounting Performance Research of Wheel-track Hybrid Robots

Mechanical Analysis on the Transmission Mechanism of 35 Type Gear Long Ring Rack Pumping Units

Rigid-flexible Coupling Dynamics and Fatigue Life Evaluation of Wheel Reducers Based on the Load Spectrum

Dynamic Analysis on the Transmission Gear System of the Cutter Head Main Drive of Large Shield Machines

Kinematic and Dynamic Analysis of an Eight-bar Mechanism in Carton Forming

Related Author

No data

Related Institution

Institute of Machine Intelligence, University of Shanghai for Science and Technology

School of Health Science and Engineering, University of Shanghai for Science and Technology

School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology

College of Mechanical and Electrical Engineering, China University of Petroleum （East China）

Petroleum Engineering Technology Research Institute, Sinopec Northwest Oilfield Company

⁰