考虑间隙的空间圆柱铰多体系统运动学精度及动力学分析
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摘要
为了研究空间圆柱铰间隙对系统性能的影响,针对典型的空间圆柱间隙铰结构,分析了其所有可能出现的接触模式。针对空间圆柱铰轴向和径向都存在间隙的情况,对复杂的接触模式进行了几何和运动学分析,提出一种改进的计算潜在接触点位置的方法,建立了接触碰撞力模型,将其带入多体系统动力学方程。对空间双摆进行了理想模型和间隙模型的对比分析。结果表明,由于轴向和径向间隙的存在,系统的运动学精度和动力学性能都受到了很大的影响,间隙大小的变化也会改变系统的运动学到位精度。空间圆柱间隙铰的建模方法和结果为机械结构的设计和改进提供了理论依据。
In order to investigate the influence of spatial cylindrical joints with clearances on system performances,all possible contact modes of a typical spatial cylindrical clearance joint were analyzed. Aiming at the spatial cylindrical joints with clearances in the axial and radial directions,the geometry and kinematics of complicated contact modes were analyzed. An improved method for computing potential contact points was proposed. The normal contact impact force model and the tangential friction force model were set up. Then,the multi-body dynamic equation was given with consideration of the normal contact impact force and the tangential friction force. Finally,a spatial double pendulum with joint clearance was taken as an example and the results were compared with those by using the ideal model. The results show that the kinematic accuracy and dynamic performance of the system were affected greatly,because of the existing clearances in the axial and radial directions,and different clearance sizes can change the kinematic accuracy of the system. The method and the results provide a theoretical basis for the design and improvement of the mechanical structures.
In order to investigate the influence of spatial cylindrical joints with clearances on system performances,all possible contact modes of a typical spatial cylindrical clearance joint were analyzed. Aiming at the spatial cylindrical joints with clearances in the axial and radial directions,the geometry and kinematics of complicated contact modes were analyzed. An improved method for computing potential contact points was proposed. The normal contact impact force model and the tangential friction force model were set up. Then,the multi-body dynamic equation was given with consideration of the normal contact impact force and the tangential friction force. Finally,a spatial double pendulum with joint clearance was taken as an example and the results were compared with those by using the ideal model. The results show that the kinematic accuracy and dynamic performance of the system were affected greatly,because of the existing clearances in the axial and radial directions,and different clearance sizes can change the kinematic accuracy of the system. The method and the results provide a theoretical basis for the design and improvement of the mechanical structures.
引文
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[2]RAVN P.A continuous analysis method for planar multibody systems with joint clearance[J].Multibody System Dynamics,1998,2(1):1-24.
[3]FLORES P,AMBRSIO J,CLARO J C P,et al.Kinematics and dynamics of multibody systems with imperfect joints:models and case studies[J].Lecture Notes in Applied and Computational Mechanics,2008,34:169.
[4]MUVENGEI O,KIHIU J,IKUA B.Dynamic analysis of multi-body mechanical systems with imperfect kinematic joints:a literature survey and review[J].Sustainable Research and Innovation Proceedings,2011,3:1-16.
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[7]TIAN Q,ZHANG Y,CHEN L,et al.Simulation of planar flexible multibody systems with clearance and lubricated revolute joints[J].Nonlinear Dynamics,2010,60(4):489-511.
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[9]ERKAYA S,UZMAY I.Modeling and simulation of joint clearance effects on mechanisms having rigid and flexible links[J].Journal of Mechanical Science and Technology,2014,28(8):2979-2986.
[10]FLORES P,LANKARANI H M.Spatial rigid multi-body systems with lubricated spherical clearance joints:modeling and simulation[J].Nonlinear Dynamics,2010,60(1/2):99-114.
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[13]FLORES P,LANKARANI H M.Dynamic response of multibody systems with multiple clearance joints[J].Journal Computational and Nonlinear Dynamics,2012,7(3):031003-031013.
[14]FLORES P.A parametric study on the dynamic response of planar multi-body systems with multiple clearance joints[J].Nonlinear Dynamics,2010,61(4):633-653.
[15]FLORES P,AMBROSIO J,CLARO J C P,et al.Dynamics of multibody systems with spherical clearance joints[J].Journal of Computational and Nonlinear Dynamics,2006,1(3):240-247.
[16]FLORES P,AMBROSIO J,CLARO J C P,et al.Spatial revolute joints with clearances for dynamic analysis of multibody systems[J].Proceedings of the Institution of Mechanical Engineers,2006,220(4):257-271.
[17]尉立肖,刘才山.圆柱铰间隙运动学分析及动力学仿真[J].北京大学学报(自然科学版),2005,41(5):679-687.YU Lixiao,LIU Caishan.Dynamic simulation and kinetic description of revolute joint with spatial clearance[J].Acta Scientiarum Naturalium Universitatis Pekinensis,2005,41(5):679-687.
[18]BAUCHAU O A,RODRIGUEZ J.Modeling of joints with clearance in flexible multi-body systems[J].International Journal of Solids&Structures,2002,39(1):41-63.
[19]BAUCHAU O A,JU C.Modeling friction phenomena in flexible multi-body dynamics[J].Computer Methods in Applied Mechanics&Engineering,2006,195(50/51):6909-6924.
[20]LIU C,TIAN Q,HU H.Dynamics and control of a spatial rigid-flexible multibody system with multiple cylindrical clearance joints[J].Mechanism and Machine Theory,2012,52:106-129.
[21]LANKARANI H M,NIKRAVESH P E.A contact force model with hysteresis damping for impact analysis of multibody systems[J].Journal of Mechanical Design,1990,112(3):369-376.
[22]LANKARANI H M,NIKRAVESH P E.Continuous contact force models for impact analysis in multibody systems[J].Nonlinear Dynamics,1994,5(2):193-207.
[23]AMBROSIO J A C,SCHIEHLEN W,VALSEK M.Impact of rigid and flexible multibody systems:deformation description and contact models,in virtual nonlinear multibody systems[M].Berlin:Springer Netherlands,2003:57-81.
[24]赵刚练,姜毅,郝继光,等.考虑圆柱铰链间隙的多刚体系统动力学计算方法[J].振动与冲击学报,2013,32(17):171-176.ZHAO Ganglian,JIANG Yi,HAO Jiguang,et al.Computational method of rigid multibody system dynamics considering cylindrical joint clearance[J].Journal of Vibration and Shock,2013,32(17):171-176.
[2]RAVN P.A continuous analysis method for planar multibody systems with joint clearance[J].Multibody System Dynamics,1998,2(1):1-24.
[3]FLORES P,AMBRSIO J,CLARO J C P,et al.Kinematics and dynamics of multibody systems with imperfect joints:models and case studies[J].Lecture Notes in Applied and Computational Mechanics,2008,34:169.
[4]MUVENGEI O,KIHIU J,IKUA B.Dynamic analysis of multi-body mechanical systems with imperfect kinematic joints:a literature survey and review[J].Sustainable Research and Innovation Proceedings,2011,3:1-16.
[5]FLORES P,AMBROSIO J.Revolute joints with clearance in multibody systems[J].Computers&Structures,2004,82(17/18/19):1359-1369.
[6]FLORES P,AMBROSIO J,CLARO J C P,et al.Translational joints with clearance in rigid multibody systems[J].Journal of Computational and Nonlinear Dynamics,2008,3(1):112-113.
[7]TIAN Q,ZHANG Y,CHEN L,et al.Simulation of planar flexible multibody systems with clearance and lubricated revolute joints[J].Nonlinear Dynamics,2010,60(4):489-511.
[8]LI J L,YAN S Z,GUO F,et al.Effects of damping,friction,gravity,and flexibility on the dynamic performance of a deployable mechanism with clearance[J].Proceedings of Institution of Mechanical Engineers,2013,227(8):1791-1803.
[9]ERKAYA S,UZMAY I.Modeling and simulation of joint clearance effects on mechanisms having rigid and flexible links[J].Journal of Mechanical Science and Technology,2014,28(8):2979-2986.
[10]FLORES P,LANKARANI H M.Spatial rigid multi-body systems with lubricated spherical clearance joints:modeling and simulation[J].Nonlinear Dynamics,2010,60(1/2):99-114.
[11]MACHADO M,COSTA J,SEABRA E,et al.The effect of the lubricated revolute joint parameters and hydrodynamic force models on the dynamic response of planar multi-body systems[J].Nonlinear Dynamics,2012,69(1/2):635-654.
[12]FLORES P,AMBRSIO J,CLARO J C P,et al.Dynamic behaviour of planar rigid multi-body systems including revolute joints with clearance[J].Proceedings of the Institution of Mechanical Engineers,2007,221(2):161-174.
[13]FLORES P,LANKARANI H M.Dynamic response of multibody systems with multiple clearance joints[J].Journal Computational and Nonlinear Dynamics,2012,7(3):031003-031013.
[14]FLORES P.A parametric study on the dynamic response of planar multi-body systems with multiple clearance joints[J].Nonlinear Dynamics,2010,61(4):633-653.
[15]FLORES P,AMBROSIO J,CLARO J C P,et al.Dynamics of multibody systems with spherical clearance joints[J].Journal of Computational and Nonlinear Dynamics,2006,1(3):240-247.
[16]FLORES P,AMBROSIO J,CLARO J C P,et al.Spatial revolute joints with clearances for dynamic analysis of multibody systems[J].Proceedings of the Institution of Mechanical Engineers,2006,220(4):257-271.
[17]尉立肖,刘才山.圆柱铰间隙运动学分析及动力学仿真[J].北京大学学报(自然科学版),2005,41(5):679-687.YU Lixiao,LIU Caishan.Dynamic simulation and kinetic description of revolute joint with spatial clearance[J].Acta Scientiarum Naturalium Universitatis Pekinensis,2005,41(5):679-687.
[18]BAUCHAU O A,RODRIGUEZ J.Modeling of joints with clearance in flexible multi-body systems[J].International Journal of Solids&Structures,2002,39(1):41-63.
[19]BAUCHAU O A,JU C.Modeling friction phenomena in flexible multi-body dynamics[J].Computer Methods in Applied Mechanics&Engineering,2006,195(50/51):6909-6924.
[20]LIU C,TIAN Q,HU H.Dynamics and control of a spatial rigid-flexible multibody system with multiple cylindrical clearance joints[J].Mechanism and Machine Theory,2012,52:106-129.
[21]LANKARANI H M,NIKRAVESH P E.A contact force model with hysteresis damping for impact analysis of multibody systems[J].Journal of Mechanical Design,1990,112(3):369-376.
[22]LANKARANI H M,NIKRAVESH P E.Continuous contact force models for impact analysis in multibody systems[J].Nonlinear Dynamics,1994,5(2):193-207.
[23]AMBROSIO J A C,SCHIEHLEN W,VALSEK M.Impact of rigid and flexible multibody systems:deformation description and contact models,in virtual nonlinear multibody systems[M].Berlin:Springer Netherlands,2003:57-81.
[24]赵刚练,姜毅,郝继光,等.考虑圆柱铰链间隙的多刚体系统动力学计算方法[J].振动与冲击学报,2013,32(17):171-176.ZHAO Ganglian,JIANG Yi,HAO Jiguang,et al.Computational method of rigid multibody system dynamics considering cylindrical joint clearance[J].Journal of Vibration and Shock,2013,32(17):171-176.