CAJ | 학술논문

利用含间隙关节元素之间的几何关系建立了该机构的间隙模型，写出了该机构的位置方程并对其进行了运动学分析，采用连续接触碰撞力模型描述了该机构间隙副的法向接触力，并以修正的Coulomb摩擦力模型建立了该机构的间隙副的切向接触力，利用第二类拉格朗日方程建立了该机构含间隙副的完整动力学模型，并结合ADAMS动力学仿真软件分析了运动副间隙对该机构动态特性的影响。为该机构的间隙补偿与控制策略提供了理论依据。
이용함간극관절원소지간적궤하관계건립료해궤구적간극모형，사출료해궤구적위치방정병대기진행료운동학분석，채용련속접촉팽당력모형묘술료해궤구간극부적법향접촉력，병이수정적Coulomb마찰력모형건립료해궤구적간극부적절향접촉력，이용제이류랍격랑일방정건립료해궤구함간극부적완정동역학모형，병결합ADAMS동역학방진연건분석료운동부간극대해궤구동태특성적영향。위해궤구적간극보상여공제책략제공료이론의거。
According to the geometrical relationship between the joint clearances,this paper establishes the clearance model of the mechanism,gives out its position equations and makes its kinematic analysis. The continuous confact force model is took to de-scribes the normal contact force of the joint clearance.The tangential contact force is derived according to a modified Coulomb’ s fric-tion law. the complete dynamics with joint clearance is set up using the Second Lagrange Equation. The simulation results can prefer-ably predict the effect of the clearance on the mechanism dynamic characteristics by ADAMS software. The theoretical foundation can be provided for the control strategy and clearance compensation in the planner mechanism.