Dynamic investigation of a spatial multi-body mechanism considering joint clearance and friction based on coordinate partitioning method

被引:11
|
作者
Gao Hua [1 ]
Zhai Jingyu [1 ]
Zhang Hao [2 ]
Han Qingkai [3 ]
Liu Jinguo [4 ]
机构
[1] Dalian Univ Technol, Sch Mech Engn, Dalian, Peoples R China
[2] Liaoning Univ Technol, Coll Mech Engn & Automat, Jinzhou 121001, Peoples R China
[3] Northeastern Univ, Minist Educ, Key Lab Vibrat & Control Aeroprop Syst, Shenyang, Peoples R China
[4] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Peoples R China
关键词
Dynamics; spatial multi-body mechanism; coordinate partitioning method; clearance; friction; CONTACT FORCE MODEL; IMPROVED NUMERICAL DISSIPATION; SLIDER-CRANK MECHANISM; IMPACT ANALYSIS; IDENTIFICATION; SYSTEMS; FLEXIBILITY; COEFFICIENT;
D O I
10.1177/09544062211025566
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
The dynamic response of the model, which is the series connection of a planar four-bar mechanism and a spatial RSSR mechanism, is analyzed considering revolute joint clearance and friction. A non-holonomic constraint equation is proposed to solve the Euler angles. The dynamic equations are established by combining the Lagrange equation with the modified contact model and the LuGre friction model. A dynamic solution program based on the coordinate partitioning method is designed to solve the dynamic equations. The paper verifies the correctness and applicability of the solution program by comparing the numerical calculation results with Adams simulation. Compared with the results of eccentricity, it is found that the maximum penetration is very sensitive to the change of the slider speed rather than the clearance. The equivalent damping coefficient proposed by authors not only represents whether a collision occurs, but reflects the hysteresis caused by damping. The macroscopic manifestation of the up and down oscillation of eccentricity is the swing of the contact point. Besides, the system quickly changes from the collision into the stable state due to considering friction, and the peak value of each collision reduces greatly. Therefore, when the clearance is unavoidable, the clearance joint should be coated with a material with a large friction coefficient and not easy to wear.
引用
收藏
页码:7569 / 7587
页数:19
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