CAJ | 학술논문

分别以销轴和两维指向机构为研究对象,结合"接触-分离"两状态模型,采用多体系统动力学理论,得到含间隙铰的多体系统动力学方程.基于该方程,采用动力学仿真软件ADAMS对含间隙铰的动力学特性进行分析,得出了销轴在重力场和微重力场中不同转速下销轴中心的运动轨迹及销轴与套筒碰撞力的变化规律.仿真结果表明:重力释放对含间隙铰的运动轨迹、振动、穿刺深度、碰撞力、末端精度等都具有较大的影响.研究成果对含间隙机构的设计具有重要价值和意义.
분별이소축화량유지향궤구위연구대상,결합"접촉-분리"량상태모형,채용다체계통동역학이론,득도함간극교적다체계통동역학방정.기우해방정,채용동역학방진연건ADAMS대함간극교적동역학특성진행분석,득출료소축재중력장화미중력장중불동전속하소축중심적운동궤적급소축여투통팽당력적변화규률.방진결과표명:중력석방대함간극교적운동궤적、진동、천자심도、팽당력、말단정도등도구유교대적영향.연구성과대함간극궤구적설계구유중요개치화의의.
The multibody system dynamic equations of pin and two-dimensional pointing mechanism with clearance are obtained by using "contact-separation" two-state model and the multibody system dynamic theory. Based on these equations, the dynamics characteristics are analyzed by using dynamic simulation software ADAMS. The trajectories center pin and collision force change regularities are obtained in gravity field and micro gravity field at different speeds. The simulation results show that the release of gravity has great influence on the trajectories, vibration, penetration depth, collision force and end-effector precision of clearance joint. The results have important value and great significance for clearance mechanism design.