期刊
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
卷 235, 期 24, 页码 7569-7587出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/09544062211025566
关键词
Dynamics; spatial multi-body mechanism; coordinate partitioning method; clearance; friction
资金
- Natural Science Foundation of Liaoning Province
- Key Laboratory of Vibration and Control of Aero-Propulsion System Ministry of Education, Northeastern University
The dynamic response of a model involving a planar four-bar mechanism and a spatial RSSR mechanism was analyzed, taking into account revolute joint clearance and friction. A non-holonomic constraint equation was proposed to solve the Euler angles, and dynamic equations were established using the Lagrange equation, contact model, and LuGre friction model. The study found that maximum penetration depth is sensitive to slider speed changes, and a method to reduce collision peak values was proposed.
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.
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