含间隙超精密压力机柔性多连杆机构动力学建模与仿真
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摘要
建立柔性多连杆机构动力学模型对分析超精密压力机下死点动态精度具有极其重要的作用。传统的超精密压力机多连杆机构动力学模型一直忽略旋转副和球面副间隙以及曲轴和连杆柔性的影响,从而导致分析精度较低。为更准确地分析其动态响应特性,建立了一种考虑旋转副和球面副间隙及曲轴和连杆柔性影响的改进柔性多连杆机构的动力学模型。仿真结果表明,旋转副和球面副间隙的存在对机构的动态响应特性有很大影响;曲轴中心和球铰球心的运动特征主要表现为2个阶段:自由运动和冲击运动。此外,研究了间隙和曲轴输入转速对多连杆机构动态响应特性的影响,得出了随着间隙尺寸的增加,滑块下死点位置上移,滑块的速度和加速度峰值先减小后增加;随着曲轴转速的增加,滑块下死点位置和最大偏差值也逐渐增大,滑块的速度和加速度显著增加。
It's essential to establish a dynamic model of flexible multi-link mechanism with clearance for ultra-precision press to analyze its dynamic response. Traditionally, the rigid model of multi-link mechanism often neglects the effect of revolute and spherical clearance joints,and flexibility of crank shaft and linkage,which reduces the analysis precision. To investigate its dynamics more accurately,an improved dynamic model of flexible multi-link mechanism with clearance was established, which considered the effect of revolute and spherical clearance joints,and flexibility of crank shaft and linkage.It was demonstrated that the revolute and spherical clearance affected the dynamic response of the mechanism dramatically and the motion of the crank shaft center and ball center of spherical joint were mainly characterized by only two phases: free flight and impact motion. In addition,the influence of the clearance size and speed of crank shaft on the dynamic characteristics of the multi-link mechanism was also investigated. The results showed that with the increase of the clearance size,the position of the slider's lower dead center was moved up simultaneously,the peak values of velocity and acceleration were decreased to a minimum and then increased with the increase of clearance size and speed. With the increase of crankshaft speed,the position of the slider's lower dead center and the maximum deviation value were also increased gradually, and the values of velocity and acceleration were increased significantly.
It's essential to establish a dynamic model of flexible multi-link mechanism with clearance for ultra-precision press to analyze its dynamic response. Traditionally, the rigid model of multi-link mechanism often neglects the effect of revolute and spherical clearance joints,and flexibility of crank shaft and linkage,which reduces the analysis precision. To investigate its dynamics more accurately,an improved dynamic model of flexible multi-link mechanism with clearance was established, which considered the effect of revolute and spherical clearance joints,and flexibility of crank shaft and linkage.It was demonstrated that the revolute and spherical clearance affected the dynamic response of the mechanism dramatically and the motion of the crank shaft center and ball center of spherical joint were mainly characterized by only two phases: free flight and impact motion. In addition,the influence of the clearance size and speed of crank shaft on the dynamic characteristics of the multi-link mechanism was also investigated. The results showed that with the increase of the clearance size,the position of the slider's lower dead center was moved up simultaneously,the peak values of velocity and acceleration were decreased to a minimum and then increased with the increase of clearance size and speed. With the increase of crankshaft speed,the position of the slider's lower dead center and the maximum deviation value were also increased gradually, and the values of velocity and acceleration were increased significantly.
引文
1 FLORES P.A parametric study on the dynamic response of planar multibody systems with multiple clearance joints[J].Nonlinear Dynamics,2010,61(4):633-653.
2 FLORES P,AMBRSIO J,CLARO J C P,et al.A study on dynamics of mechanical systems including joints with clearance and lubrication[J].Mechanism&Machine Theory,2006,41(3):247-261.
3 FLORES P,AMBRSIO J,CLARO J C P,et al.Dynamics of multibody systems with spherical clearance joints[J].Journal of Computational&Nonlinear Dynamics,2006,1(3):443-451.
4 MUKRAS S,KIM N H,MAUNTLER N A,et al.Analysis of planar multibody systems with revolute joint wear[J].Wear,2010,268(5-6):643-652.
5 MUKRAS S,KIM N H,MAUNTLER N A,et al.Comparison between elastic foundation and contact force models in wear analysis of planar multibody system[J].Journal of Tribology,2010,132(3):031604.
6 KHEMILI I,ROMDHANE L.Dynamic analysis of a flexible slider-crank mechanism with clearance[J].European Journal of Mechanics-A/Solids,2008,27(27):882-898.
7 赵子坤.含间隙机构动力学仿真与实验研究[D].大连:大连理工大学,2009.ZHAO Z K.Dynamic analysis and experiment research of mechanism with clearance[D].Dalian:Dalian University of Technology,2009.(in Chinese)
8 姚昊雄.考虑多间隙的连杆机构动力学理论研究[D].湘潭:湘潭大学,2014.YAO H X.A theoretical study on mechanism dynamics with multi-clearances[D].Xiangtan:Xiangtan University,2014.(in Chinese)
9 王国庆.考虑碰撞、非线性阻尼和构件弹性的机构动力学理论与应用研究[D].西安:西安理工大学,2002.WANG G Q.Theory and application research of elastic mechanism dynamics concerning impact and nonlinear damping[D].Xi’an:Xi’an University of Technology,2002.(in Chinese)
10 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.
11 AMBRSIO J A C.Impact of rigid and flexible multibody systems:deformation description and contact models[M]∥NATO ASI Series,2003,103:57-81.
12 NIKRAVESH P E.Computer-aided analysis of mechanical systems[M].Prentice-Hall,Inc.,1988.
13 FLORES P,AMBRSIO J,CLARO J P.Dynamic analysis for planar multibody mechanical systems with lubricated joints[J].Multibody System Dynamics,2004,12(1):47-74.
14 TIMOSHENKO S P,GOODIER J N.Theory of elasticity[M].New York:Mc Graw-Hill,1987.
15 HERTZ H.On the contact of rigid elastic solids and on hardness[M].New York:Mac Millan,1882.
16 LU X J,ZHU S H,KE Z M,et al.Dynamic analysis of a multi-link high-speed press[C]∥2011 IEEE International Conference on Measuring Technology&Mechatronics Automation,2011:1104-1107.
17 鹿新建.高速精密压力机多连杆驱动机构研究[D].南京:南京农业大学,2012.LU X J.Research on multi-link drive mechanism of a high-speed precision press[D].Nanjing:Nanjing Agricultural University,2012.(in Chinese)
18 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.
19 ERKAYA S,I·BRAHIM UZMAY.Experimental investigation of joint clearance effects on the dynamics of a slider-crank mechanism[J].Multibody System Dynamics,2010,24(1):81-102.
20 MUVENGEI O,KIHIU J,IKUA B.Dynamic analysis of planar multi-body systems with Lu Gre friction at differently located revolute clearance joints[J].Multibody System Dynamics,2012,28(4):369-393.
2 FLORES P,AMBRSIO J,CLARO J C P,et al.A study on dynamics of mechanical systems including joints with clearance and lubrication[J].Mechanism&Machine Theory,2006,41(3):247-261.
3 FLORES P,AMBRSIO J,CLARO J C P,et al.Dynamics of multibody systems with spherical clearance joints[J].Journal of Computational&Nonlinear Dynamics,2006,1(3):443-451.
4 MUKRAS S,KIM N H,MAUNTLER N A,et al.Analysis of planar multibody systems with revolute joint wear[J].Wear,2010,268(5-6):643-652.
5 MUKRAS S,KIM N H,MAUNTLER N A,et al.Comparison between elastic foundation and contact force models in wear analysis of planar multibody system[J].Journal of Tribology,2010,132(3):031604.
6 KHEMILI I,ROMDHANE L.Dynamic analysis of a flexible slider-crank mechanism with clearance[J].European Journal of Mechanics-A/Solids,2008,27(27):882-898.
7 赵子坤.含间隙机构动力学仿真与实验研究[D].大连:大连理工大学,2009.ZHAO Z K.Dynamic analysis and experiment research of mechanism with clearance[D].Dalian:Dalian University of Technology,2009.(in Chinese)
8 姚昊雄.考虑多间隙的连杆机构动力学理论研究[D].湘潭:湘潭大学,2014.YAO H X.A theoretical study on mechanism dynamics with multi-clearances[D].Xiangtan:Xiangtan University,2014.(in Chinese)
9 王国庆.考虑碰撞、非线性阻尼和构件弹性的机构动力学理论与应用研究[D].西安:西安理工大学,2002.WANG G Q.Theory and application research of elastic mechanism dynamics concerning impact and nonlinear damping[D].Xi’an:Xi’an University of Technology,2002.(in Chinese)
10 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.
11 AMBRSIO J A C.Impact of rigid and flexible multibody systems:deformation description and contact models[M]∥NATO ASI Series,2003,103:57-81.
12 NIKRAVESH P E.Computer-aided analysis of mechanical systems[M].Prentice-Hall,Inc.,1988.
13 FLORES P,AMBRSIO J,CLARO J P.Dynamic analysis for planar multibody mechanical systems with lubricated joints[J].Multibody System Dynamics,2004,12(1):47-74.
14 TIMOSHENKO S P,GOODIER J N.Theory of elasticity[M].New York:Mc Graw-Hill,1987.
15 HERTZ H.On the contact of rigid elastic solids and on hardness[M].New York:Mac Millan,1882.
16 LU X J,ZHU S H,KE Z M,et al.Dynamic analysis of a multi-link high-speed press[C]∥2011 IEEE International Conference on Measuring Technology&Mechatronics Automation,2011:1104-1107.
17 鹿新建.高速精密压力机多连杆驱动机构研究[D].南京:南京农业大学,2012.LU X J.Research on multi-link drive mechanism of a high-speed precision press[D].Nanjing:Nanjing Agricultural University,2012.(in Chinese)
18 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.
19 ERKAYA S,I·BRAHIM UZMAY.Experimental investigation of joint clearance effects on the dynamics of a slider-crank mechanism[J].Multibody System Dynamics,2010,24(1):81-102.
20 MUVENGEI O,KIHIU J,IKUA B.Dynamic analysis of planar multi-body systems with Lu Gre friction at differently located revolute clearance joints[J].Multibody System Dynamics,2012,28(4):369-393.