CAJ | 학술논문

各种连杆机构铰链处存在的非线性因素对机构运行的稳定性产生巨大的危害，因此考虑间隙和干摩擦非线性因素同时存在对机构系统动力学性能的影响是进一步改善机构运行性能的重要基础。以四杆机构为例，对于连杆两端铰链处存在的间隙和干摩擦因素，采用开关键合图分别对其建立各自的向量键合图模型；在此基础上，建立间隙和干摩擦同时存在的铰链单元的非因果键合图模型，将其以整体模块形式嵌入四杆机构的向量键合图模型中，得到整体四杆机构混合键合图模型，由混合键合图模型最终建立机构的动力学方程；基于 Matlab 软件对所建模型进行数值仿真研究，得出非线性因素对连杆动力学性能的影响，对于控制连杆机构的运行精度和稳定性具有指导意义。
각충련간궤구교련처존재적비선성인소대궤구운행적은정성산생거대적위해，인차고필간극화간마찰비선성인소동시존재대궤구계통동역학성능적영향시진일보개선궤구운행성능적중요기출。이사간궤구위례，대우련간량단교련처존재적간극화간마찰인소，채용개관건합도분별대기건립각자적향량건합도모형；재차기출상，건립간극화간마찰동시존재적교련단원적비인과건합도모형，장기이정체모괴형식감입사간궤구적향량건합도모형중，득도정체사간궤구혼합건합도모형，유혼합건합도모형최종건립궤구적동역학방정；기우 Matlab 연건대소건모형진행수치방진연구，득출비선성인소대련간동역학성능적영향，대우공제련간궤구적운행정도화은정성구유지도의의。
Nonlinear factors existing in hinges of linkage bring enormous harm to the running stability of mechanism.So,it is an important foundation to investigate the influences of clearance and dry friction,when they are existing in mechanism simultaneously,on mechanism dynamics for further improving its running performance.Taking a four bar mechanism as an example,the switch bond graph method was used to establish bond graph models of clearance and dry friction in hinges of link.On this basis,a non-casual bond graph model of hinge with clearance and dry friction was established and embedded into the vector bond graph model of the four bar mechanism.Thus a whole hybrid bond graph model of the four bar mechanism was obtained and the dynamics equation of the mechanism was established based on it.The influences of nonlinear factors on link dynamics were analyzed by numerical simulations using Matlab 7.0,and the results have guiding significance for controlling the running precision and stability of linkage mechanism.