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为了研究含间隙机构的动力学特性 ,首先要建立运动副的间隙模型。目前常用的几种间隙模型都存在一定的不足 ,不完全符合实际运动。针对这几种模型中存在的问题 ,基于弹性接触理论 ,考虑副元素的非线性特征 ,建立了非线性等效弹簧和阻尼器 ,并给出了运动副力学描述方程。结合三球销移动副的特殊结构 ,建立了该运动副提供的力约束方程。通过仿真计算和实验研究 ,两者具有很好的一致性 ,证明了该模型的合理性和实用性。研究结果为含间隙运动副机构的动力学研究提供了理论基础。
In order to study the dynamic characteristics of the mechanism with gap, we must first establish the gap model of the kinematic pair. Currently, there are some deficiencies in some common gap models, which are not completely in line with the actual movement. Aiming at the problems existing in these models, a nonlinear equivalent spring and damper are established based on the elastic contact theory and the non-linear characteristics of the secondary elements. The equations for the description of the kinematics are given. Combined with the special structure of the tripod pair, a force constraint equation is provided. Through the simulation and experimental study, the two are in good agreement, which proves the rationality and practicability of the model. The research results provide a theoretical basis for the kinetic study of the secondary mechanism with gap motion.