CAJ | 학술논문

针对运动副中存在间隙会使高速多连杆传动机构呈强烈非线性振动特征、严重影响机构运行可靠性问题，在研究运动副间隙动力学建模理论基础上，基于间隙矢量模型，建立高速多连杆传动机构含间隙旋转副的“碰撞铰”模型，并引入传动机构动力学模型，利用非线性弹簧-阻尼模型模拟接触碰撞的法向力，利用修正的库伦摩擦模型模拟接触碰撞的切向力；在特定工况下仿真获得其动态特性，指出多间隙转动副对机构特性有重要影响。研究间隙取不同尺寸时对机构运行可靠性影响，与采用理想运动副建立的连杆机构动态特性对比发现，多间隙转动副的存在会使机构速度、加速度特性产生运动滞后效应，加速度存在强烈冲击、波动现象，并分析产生原因。所用研究方法与参数分析结果可为多连杆传动机构优化设计与可靠运行提供参考。
침대운동부중존재간극회사고속다련간전동궤구정강렬비선성진동특정、엄중영향궤구운행가고성문제，재연구운동부간극동역학건모이론기출상，기우간극시량모형，건립고속다련간전동궤구함간극선전부적“팽당교”모형，병인입전동궤구동역학모형，이용비선성탄황-조니모형모의접촉팽당적법향력，이용수정적고륜마찰모형모의접촉팽당적절향력；재특정공황하방진획득기동태특성，지출다간극전동부대궤구특성유중요영향。연구간극취불동척촌시대궤구운행가고성영향，여채용이상운동부건립적련간궤구동태특성대비발현，다간극전동부적존재회사궤구속도、가속도특성산생운동체후효응，가속도존재강렬충격、파동현상，병분석산생원인。소용연구방법여삼수분석결과가위다련간전동궤구우화설계여가고운행제공삼고。
High-speed multi-link transmission mechanisms with clearance present strong nonlinear features which affect the dynamic characteristics of the mechanisms.A collision-hinge model,inserted into the dynamics model of an actual multi-link transmission mechanism,was built for clearance joints with the clearance vector assumed,based on the dynamics modeling theory for clearance.In order to simulate the process of contact and collision,normal forces were calculated with a nonlinear continuous contact force model and tangential forces were calculated with a modified Coulomb friction model.Then under a designated working condition,the dynamics model was solved,founding the great influence of multiple clearance joints on dynamic characteristics of the mechanism.Meanwhile,the influence of size difference of clearances on the running reliability of mechanism was analyzed,founding that the existence of multiple clearance joints can cause hysteresis effect on velocity and acceleration of the mechanism, and impact and fluctuation effects on acceleration,compared with the dynamic characteristics of the model built with ideal joints.Moreover,the reason leading to such results was analyzed.The methods and the results can act as a reference for optimal design and reliable running of multi-link transmission mechanisms.