考虑铰间间隙的机构动力学特性研究
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摘要
随着现代高科技的发展,航空航天和现代高精密机构对位置精度的要求不断提高和机构运行环境的日益复杂,以及航天器的研制和发射成本的提高,机构的高可靠性、长寿命问题已成为人们关注的焦点;尤其是机构经过长时间工作后,运动副有磨损间隙时引起的系统动力学特性、运动精度、稳定性等问题更是关注的焦点,也是需要解决的难题之一。摩擦磨损是引起机械设备性能和精度下降甚至失效的主要因素之一,针对机械机构运动副普遍存在间隙与磨损现象,本文对考虑铰间间隙的机构动力学特性的一系列关键问题进行了深入研究,为含间隙机构可靠性分析、机构设计与寿命预测奠定了理论基础。主要包括以下内容:
针对考虑旋转铰间隙的机构,对旋转铰规则间隙的矢量模型进一步拓展,应用于动态非规则磨损间隙,建立了通用的旋转铰间隙矢量模型以及含磨损间隙旋转铰的数学模型,适用于规则装配间隙与非规则磨损间隙;在此基础上,建立含间隙机构的动力学方程,为后续分析含间隙机构的动力学特性与运动副间隙动态磨损特性、非规则磨损间隙对机构动力学特性的影响奠定基础。
含间隙机构动力学特性的研究,还需要考虑间隙铰接触碰撞过程的正确描述,针对传统的接触碰撞力模型进行了系统的分析与比较;并基于Lankarani和Nikravesh提出的非线性弹簧阻尼模型(即L-N接触碰撞力模型),结合含间隙机构的动力学方程,对含间隙太阳帆板展开、空间机械臂以及星载天线双轴定位机进行动态特性分析,研究了间隙对空间机构动力学特性的影响。
针对传统接触碰撞力模型的局限性,基于改进弹性基础模型,建立了一种新的旋转铰间隙连续接触碰撞力混合模型,对其进行了详细分析并与传统的L-N连续接触碰撞力模型进行了比较,指出了本文新模型的优点。进一步将其应用到含间隙机构动力学分析中,通过实验验证了新模型的正确性和有效性。
将本文新的间隙连续接触碰撞力混合模型应用到含间隙机构动力学特性分析中,以含间隙四连杆机构为对象,建立了含间隙四连杆机构的动力学模型,详细的分析含规则装配间隙时的机构动态特性,为研究间隙铰的动态磨损特性奠定基础。在此基础上,提出了含间隙机构动态特性的定量分析方法,对含间隙机构不同间隙尺寸、曲柄转速、摩擦系数工况进行了定量分析。
然后提取间隙接触碰撞载荷谱,基于Archard磨损模型,建立间隙旋转铰磨损的动态计算模型,并给出了间隙旋转铰动态磨损计算流程,以含间隙四连杆机构为对象,对间隙旋转铰动态磨损特性进行了分析与预测,并对磨损后的轴表面轮廓进行了重构,发现了间隙铰非规则磨损特征并指出了导致间隙铰非规则磨损的原因。
最后,在以上研究的基础上,针对非规则的磨损间隙,引入了考虑接触表面曲率变化的非线性动态变刚度系数,结合本文新的间隙连续接触碰撞力混合模型,建立了含间隙机构动力学特性与磨损特性的集成分析方法,通过引入磨损周期,对考虑非规则磨损间隙时机构的动力学特性进行了详细的研究,包括非规则磨损间隙对机构动力学性能的影响,以及非规则间隙铰的磨损特性。
As development of the modern high-tech, the requirement of position precision for aerospace and high-precision mechanism is increasing and the operation environment for mechanism is more and more complex. Besides, the manufacture and launch cost of spacecraft is increasing. Thus, more and more researchers have been focus on the issues about high-reliability and long-life of mechanism. Especially, the dynamic characteristics, motion precision, stabilization of mechanical system caused by wear clearance joint for mechanism long time working are the interest point and difficult problem. Friction and wear is one of the chief factors which can cause the reduction, or even failure of the performance and precision of mechanism system. Considering the clearance and wear in joints of mechanical system unavoidance, this work research on the key issues of the dynamic characteristics and wear characteristics of mechanism with clearance joint, which are the theoretical basis of reliability analysis, mechanism design, vibration control, and life forecast of mechanism with clearance joint. The contents are as followings:
Considering the mechanism with revolute joint clearance, the clearance vector model of revolute joint clearance is developed and applied to non-regular wear clearance. And the general vector model and mathematical model of revolute joint with clearance are established, which are applicable for both regular assembly clearance and non-regular wear clearance. Then, the dynamics equation of mechanism with clearance is established based on the vector model and mathematical model of revolute joint with clearance. It is the basis of dynamic characteristics and wear characteristics analysis of mechanism with clearance and effect analysis of non-regular clearance on dynamic characteristics of mechanism.
The exact description of contact process in joint clearance is necessary for investigating on dynamics characteristics of mechanism with clearance. First, analysis and comparison the conventional contact models are presented. And the nonlinear spring-damp model proposed by Lankarani and Nikravesh is analyzed in detail and then the L-N contact force model is combined with the dynamics equation of mechanism with clearance. Furthermore, the dynamic characteristics of solar panel deployment with clearance, space manipulator with clearance and dual-axis positioning mechanism with clearance are studied and the effects of clearance on dynamics characteristics of space mechanisms are analyzed.
Considering the limitation of conventional contact models, a continous hybrid contact model for the revolute joint clearance is proposed based on the improved elastic foundation model. And then the new hybrid contact model is analyzed and compared with the L-N contact model, and the strongpoint of the hybrid contact model is presented. Further, the hybrid contact model is applied to the mechanism with clearance and the correctness and validity of the hybrid contact model for the revolute joint clearance is verified through experiment.
Further, the hybrid contact model is applied to analyze the dynamics characteristics of mechanism with clearance. Considering the 4-bar mechanism with clearance, the dynamics model of 4-bar mechanism is established. Then, the dynamic characteristics of mechanism with regular assembly clearance are studied, which is the basis of research on wear characteristics of clearance joint. Hereby, the quantitative analysis method of dynamics characteristics is proposed for mechanism with clearance, and the dynamic characteristics of mechanism are studied quantitatively with cases of different clearance sizes, crank velocities and coefficients of friction.
Hereby, the contact loads in joint clearance are obtained. And the wear computational model of revolute joint with clearance is established based on Archard wear model and the dynamic wear calculation frame is presented. For the 4-bar mechanism with clearance presented previously, the wear characteristics of revolute joint with clearance are analyzed and forecasted. As well as the bearing surface profile is reconfiguration after wear. It is indicated that the clearance joint is non-regularly wear and the reasons causing the clearance joint non-regularly wear are presented.
Finally, based on the research above, for the non-regular clearance after wear, the nonlinear dynamic variable stiffness coefficient considering the various curvature profiles is introduced to the hybrid contact model. And then, the dynamics and wear integration analysis method is proposed for the mechanism with clearance. Following introducing the wear period, the dynamics characteristics of mechanism with non-regular wear clearance are studied, including research on the effects of non-regular wear clearance on the dynamic characteristics of mechanism are and the wear characteristics of non-regular clearance.
针对考虑旋转铰间隙的机构,对旋转铰规则间隙的矢量模型进一步拓展,应用于动态非规则磨损间隙,建立了通用的旋转铰间隙矢量模型以及含磨损间隙旋转铰的数学模型,适用于规则装配间隙与非规则磨损间隙;在此基础上,建立含间隙机构的动力学方程,为后续分析含间隙机构的动力学特性与运动副间隙动态磨损特性、非规则磨损间隙对机构动力学特性的影响奠定基础。
含间隙机构动力学特性的研究,还需要考虑间隙铰接触碰撞过程的正确描述,针对传统的接触碰撞力模型进行了系统的分析与比较;并基于Lankarani和Nikravesh提出的非线性弹簧阻尼模型(即L-N接触碰撞力模型),结合含间隙机构的动力学方程,对含间隙太阳帆板展开、空间机械臂以及星载天线双轴定位机进行动态特性分析,研究了间隙对空间机构动力学特性的影响。
针对传统接触碰撞力模型的局限性,基于改进弹性基础模型,建立了一种新的旋转铰间隙连续接触碰撞力混合模型,对其进行了详细分析并与传统的L-N连续接触碰撞力模型进行了比较,指出了本文新模型的优点。进一步将其应用到含间隙机构动力学分析中,通过实验验证了新模型的正确性和有效性。
将本文新的间隙连续接触碰撞力混合模型应用到含间隙机构动力学特性分析中,以含间隙四连杆机构为对象,建立了含间隙四连杆机构的动力学模型,详细的分析含规则装配间隙时的机构动态特性,为研究间隙铰的动态磨损特性奠定基础。在此基础上,提出了含间隙机构动态特性的定量分析方法,对含间隙机构不同间隙尺寸、曲柄转速、摩擦系数工况进行了定量分析。
然后提取间隙接触碰撞载荷谱,基于Archard磨损模型,建立间隙旋转铰磨损的动态计算模型,并给出了间隙旋转铰动态磨损计算流程,以含间隙四连杆机构为对象,对间隙旋转铰动态磨损特性进行了分析与预测,并对磨损后的轴表面轮廓进行了重构,发现了间隙铰非规则磨损特征并指出了导致间隙铰非规则磨损的原因。
最后,在以上研究的基础上,针对非规则的磨损间隙,引入了考虑接触表面曲率变化的非线性动态变刚度系数,结合本文新的间隙连续接触碰撞力混合模型,建立了含间隙机构动力学特性与磨损特性的集成分析方法,通过引入磨损周期,对考虑非规则磨损间隙时机构的动力学特性进行了详细的研究,包括非规则磨损间隙对机构动力学性能的影响,以及非规则间隙铰的磨损特性。
As development of the modern high-tech, the requirement of position precision for aerospace and high-precision mechanism is increasing and the operation environment for mechanism is more and more complex. Besides, the manufacture and launch cost of spacecraft is increasing. Thus, more and more researchers have been focus on the issues about high-reliability and long-life of mechanism. Especially, the dynamic characteristics, motion precision, stabilization of mechanical system caused by wear clearance joint for mechanism long time working are the interest point and difficult problem. Friction and wear is one of the chief factors which can cause the reduction, or even failure of the performance and precision of mechanism system. Considering the clearance and wear in joints of mechanical system unavoidance, this work research on the key issues of the dynamic characteristics and wear characteristics of mechanism with clearance joint, which are the theoretical basis of reliability analysis, mechanism design, vibration control, and life forecast of mechanism with clearance joint. The contents are as followings:
Considering the mechanism with revolute joint clearance, the clearance vector model of revolute joint clearance is developed and applied to non-regular wear clearance. And the general vector model and mathematical model of revolute joint with clearance are established, which are applicable for both regular assembly clearance and non-regular wear clearance. Then, the dynamics equation of mechanism with clearance is established based on the vector model and mathematical model of revolute joint with clearance. It is the basis of dynamic characteristics and wear characteristics analysis of mechanism with clearance and effect analysis of non-regular clearance on dynamic characteristics of mechanism.
The exact description of contact process in joint clearance is necessary for investigating on dynamics characteristics of mechanism with clearance. First, analysis and comparison the conventional contact models are presented. And the nonlinear spring-damp model proposed by Lankarani and Nikravesh is analyzed in detail and then the L-N contact force model is combined with the dynamics equation of mechanism with clearance. Furthermore, the dynamic characteristics of solar panel deployment with clearance, space manipulator with clearance and dual-axis positioning mechanism with clearance are studied and the effects of clearance on dynamics characteristics of space mechanisms are analyzed.
Considering the limitation of conventional contact models, a continous hybrid contact model for the revolute joint clearance is proposed based on the improved elastic foundation model. And then the new hybrid contact model is analyzed and compared with the L-N contact model, and the strongpoint of the hybrid contact model is presented. Further, the hybrid contact model is applied to the mechanism with clearance and the correctness and validity of the hybrid contact model for the revolute joint clearance is verified through experiment.
Further, the hybrid contact model is applied to analyze the dynamics characteristics of mechanism with clearance. Considering the 4-bar mechanism with clearance, the dynamics model of 4-bar mechanism is established. Then, the dynamic characteristics of mechanism with regular assembly clearance are studied, which is the basis of research on wear characteristics of clearance joint. Hereby, the quantitative analysis method of dynamics characteristics is proposed for mechanism with clearance, and the dynamic characteristics of mechanism are studied quantitatively with cases of different clearance sizes, crank velocities and coefficients of friction.
Hereby, the contact loads in joint clearance are obtained. And the wear computational model of revolute joint with clearance is established based on Archard wear model and the dynamic wear calculation frame is presented. For the 4-bar mechanism with clearance presented previously, the wear characteristics of revolute joint with clearance are analyzed and forecasted. As well as the bearing surface profile is reconfiguration after wear. It is indicated that the clearance joint is non-regularly wear and the reasons causing the clearance joint non-regularly wear are presented.
Finally, based on the research above, for the non-regular clearance after wear, the nonlinear dynamic variable stiffness coefficient considering the various curvature profiles is introduced to the hybrid contact model. And then, the dynamics and wear integration analysis method is proposed for the mechanism with clearance. Following introducing the wear period, the dynamics characteristics of mechanism with non-regular wear clearance are studied, including research on the effects of non-regular wear clearance on the dynamic characteristics of mechanism are and the wear characteristics of non-regular clearance.
引文
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