中国机械工程2018，Vol.29Issue(2)：158-165,8.DOI:10.3969/j.issn.1004-132X.2018.02.006
含转动副间隙的两转动并联机构动力学建模与动态特性分析
Dynamics Modeling and Characteristics Analyses of a Two Rotational Parallel Mechanism with Revolute Joint Clearances
摘要
Abstract
Based on the deficiencies of Lankarani-Nikravesh contact force model,a modified contact force model was proposed,and it was verified that the modified contact force model is effective.Aparallel mechanism RU-RPR with revolute joint clearances was taken as research object,and the modified contact force model and modified Coulomb friction force model were used to calculate normal contact forces and tangential contact forces,respectively.Dynamics equations were established in form of differential algebra.Baumgarte stabilization method was added and the equations were solved by the fourth order Runge-Kutta method.Then effects of different friction coefficients on dynamic behaviours of the mechanisms were analyzed.关键词
并联机构/间隙/动力学/接触力Key words
parallel mechanism/clearance/dynamics/contact force分类
机械制造引用本文复制引用
侯雨雷,井国宁,邓云蛟,杨彦东,曾达幸..含转动副间隙的两转动并联机构动力学建模与动态特性分析[J].中国机械工程,2018,29(2):158-165,8.基金项目
国家自然科学基金资助项目(51205339,51775473) （51205339,51775473）
河北省自然科学基金资助项目(E2015203135) （E2015203135）
中国博士后科学基金资助项目(2013M541199) （2013M541199）
