铰链间隙对机构动态性能影响分析与某空间展开机构结构动力学响应分析
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摘要
机构的运动副是连接两构件并允许二者有相对运动的环节,机械系统中运动副间隙是不可避免的。由于运动副间隙的存在,破坏了理想的机构模型,从而使机构的实际运动与理想运动之间出现偏差。运动副间隙对机械系统性能的影响已不容忽视。因此,研究含间隙机构的运动学和动力学具有重要的理论意义和实用价值,含间隙机构动力学已成为机构动力学的前沿研究课题之一。
本文应用弹簧阻尼模型,进行动力学建模,对相关参数的确定进行了深入分析。利用反复碰撞过程中速度的不断变化,对弹簧阻尼模型的参数进行修正。另外,对间隙模型的各影响因素(材料特性、构件质量、摩擦系数、销和套筒半径值等)进行分析,找到了主要影响因素。以曲柄滑块为例,在重力环境下分析了全刚体、考虑构件柔性机构的运动,得到间隙取值与机构性能的函数关系式。
本文另一部分对某空间展开机构的收拢状态和展开状态进行有限元建模和动力学分析,得到了对工程有参考价值的结果。
The joint of mechanism is a unit which links two components and allows them to move relatively. In a mechanical system, joint clearance is unavoidable, which leads to deviation between actual model and ideal model. Therefore, the study of kinematics and dynamics of mechanisms with clearance is of great value theoretically and practically, and the dynamics with clearance has become one of the forefront research topics.
In this paper, spring damping model is used to build dynamic model, and deep analysis of related parameters is done. According to constant changes of velocity during the repeated collisions, parameters of the spring damping model is modified. Besides, main ones are found after the analysis of influencing factors of the spring damping model, such as material properties, component weights, friction coefficients, and radius of pin and sleeve, etc. Taking a crank slider as an example, the motion in the gravity environment entire rigid bodies and with flexible components considered are analyzed, and the function of clearance value to performance of mechanism is derived.
The finite element modeling and dynamic analysis of a space deployable mechanism in both folded and deployed states are also introduced in this paper. Results that are valuable to the engineering are acquired.
本文应用弹簧阻尼模型,进行动力学建模,对相关参数的确定进行了深入分析。利用反复碰撞过程中速度的不断变化,对弹簧阻尼模型的参数进行修正。另外,对间隙模型的各影响因素(材料特性、构件质量、摩擦系数、销和套筒半径值等)进行分析,找到了主要影响因素。以曲柄滑块为例,在重力环境下分析了全刚体、考虑构件柔性机构的运动,得到间隙取值与机构性能的函数关系式。
本文另一部分对某空间展开机构的收拢状态和展开状态进行有限元建模和动力学分析,得到了对工程有参考价值的结果。
The joint of mechanism is a unit which links two components and allows them to move relatively. In a mechanical system, joint clearance is unavoidable, which leads to deviation between actual model and ideal model. Therefore, the study of kinematics and dynamics of mechanisms with clearance is of great value theoretically and practically, and the dynamics with clearance has become one of the forefront research topics.
In this paper, spring damping model is used to build dynamic model, and deep analysis of related parameters is done. According to constant changes of velocity during the repeated collisions, parameters of the spring damping model is modified. Besides, main ones are found after the analysis of influencing factors of the spring damping model, such as material properties, component weights, friction coefficients, and radius of pin and sleeve, etc. Taking a crank slider as an example, the motion in the gravity environment entire rigid bodies and with flexible components considered are analyzed, and the function of clearance value to performance of mechanism is derived.
The finite element modeling and dynamic analysis of a space deployable mechanism in both folded and deployed states are also introduced in this paper. Results that are valuable to the engineering are acquired.
引文
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[2] Dubowsky S, Freudenstein F .Dynamics analysis of mechanical systems with clearance, part2: Dynamic response. ASME J. Engng. Ind., 1971,93B:310-316
[3] Bauchau OA, Rodriguez J. Modeling of joints with clearance in flexible multibody systems. International Journal of Solids and Structures, 2002,39(1):41-63
[4] Zakhariev E. Dynamics of rigid multibody systems with clearances in the joints. Mechanics of Structures and Machines, 1999,27(1):63-87
[5] Moon FC,Li GX. Experimental study of chaotic vibrations in a pin-jointed space truss structure. AIAA Journal, 1990, 28(5):915-921
[6] Folkman SL, Rowsell EA,Ferney GD. Influence of pinned joints on damping and dynamic behavior of a truss. J Guidance, Control, and Dynamics,1995,18(6):1398-1403
[7] Hachkowski MR, Peterson LD, Lake MS. Friction model of a revolute joint for a precision deployable spacecraft structures. J of Spacecraft and Rockets,1999. 36(4):591-598
[8] Bullock SJ,Peterson LD. Nanometer regularity in the mechanics of a precision deployable spacecraft structure joint. J Spacecraft and Rockets, 1999, 36(5):758-764
[9] Ferri A. Modeling and Analysis of Nonlinear Sleeve Joints of Large Space Structures. AIAA Journal of Spacecraft and Rockets.1988 ,25 (5)
[10] Hachkowski M. Reduction of Hysteresis in the Load-Displacement Response of Precision Deployment Mechanisms through Load Path Management. Ph. D. Thesis, University of Colorado , 1998
[11] 马兴瑞, 王本利等. 航天器动力学—若干问题进展及应用. 北京: 科学出版社, 2001
[12] 张跃明,唐锡宽,张兆东,申永胜.空间机构间隙转动副模型的建立.清华大学学报. 1996,36(8): 105-109
[13] 陈 滨,潘寒萌.含铰接间隙与杆件柔性的空间伸展机构单元的动力学建模与计算模拟-第二部分:系统动态特性的计算模拟结果.导弹与航天运载技术.1997,3
[14] 黄铁球,吴德隆,阎绍泽.带间隙伸展机构的非线性动力学建模.中国空间科学技术.1999,2(1)
[15] 黄铁球,吴德隆,阎绍泽,张永.带间隙伸展机构力学仿真研究.中国空间科学技术.1999,6(3)
[16] 刘才山,陈 滨,王 示.多体系统斜碰撞动力学中的结构柔性效应.振动与冲击.2000,19(2)
[17] 刘才山,陈 滨,王玉玲.考虑摩擦作用的多柔体系统点—面碰撞模型.中国机械工程.2000,6(11)
[18] 李铁寿,苟兴宇.一类含间隙铰的刚柔耦合系统动力学研究.中国空间科学技术.2000,2(1)
[19] 王天舒,孔宪仁,王本利,马兴瑞.含铰间间隙的航天器附件展开过程分析.哈尔滨工业大学学报.2001,33(3)
[20] 阎绍泽,叶青,申永胜,陈洪彬.间隙对空间可展结构动力学性能的影响.导弹与航天运载技术.2002,6
[21] 阎绍泽,陈鹿民,季林红,俞武勇,金德闻.含间隙铰的机械多体系统动力学模型.振动工程学报.2003,16(3)
[22] 张良春,孙卓,王惠贞,侯彬.接触分析中一种确定接触面的方法.舰船科学技术.2003,25(2)
[23] 阎绍泽,申永胜,陈洪彬.考虑杆件柔性和铰间隙的可展结构动力学数值模拟. 清华大学学报.2003,43(2)
[24] 陆佑方.柔性多体系统动力学.高等教育出版社.1996
[25] Hunt K H, Crossley F R E .Coefficient of Restitution Interpreted as Damping in Vibroimpact. Trans. ASME Journal of Applied Mechanics. 1975, 42E: 440-445
[26] Herbert R G, McWhannell D C .Shape and frequency composition of pulses from an impact pair. ASME Journal of Engineering for Industry, 1977,99B(8):513-518
[27] A.L.Schwab,J.P.Meijaard,P.Meijers. A comparison of revolute joint clearance models in the dynamic analysis of rigid and elastic mechanical systems,Mechanism and Machine Theory 37 (2002) 895–913
[28] Olivier A.Bauchau,Jesus Rodriguez.Modeling of joints with clearance in flexible multibody systems.International Journal of Solids and Structures 39(2002)41-63
[29] P.Flores, J.Ambrosio, J.C.P.Claro, H.M.Lankarani, C.S.Koshy. A study on dynamics of mechanical systems including joints with clearance and lubrication.Mechanism and Machine Theory 41(2006)247-261
[30] P.Flores , J.Ambrosio. Revolute joints with clearance in multibody systems. Computers and Structures 82 (2004) 1359–1369
[31] Olivier A. Bauchau , Changkuan Ju. Modeling friction phenomena in flexible multibody dynamics. Comput. Methods Appl. Mech. Engrg. 195 (2006) 6909–6924
[32] Wasfy TM and Noor AK. Multibody dynamic simulation of the next generation space telescope using finite elements and fuzzy sets. Computer Methods in Applied Mechanics and Engineering. 2000, 190(5-7): 803–824
[33] Cai-shan Liu,Ke Zhang,Rei Yang. The FEM analysis and approximate model for cylindrical joints with clearances. Mechanism and Machine Theory (2006)
[34] Jungkeun Rhee, Adnan Akay . Dynamic response of a revolute joint with clearance. Mechanics and Machinery Theory, 1996, 31(1):121-134
[35] Johnson K L .Contact mechanics. Cambridge: Cambridge University Press, 1985
[36] Hamid M.Lankarani,Parviz E.Nikravesh. Continuous contact force mmodels for impact analysis in multibody systems. Nonlinear Dynamics 5:193-207,1994
[37] Peter Ravn.A continuous analysis method for planar multibody systems with joint clearance. Multibody System Dynamics 2:1-24,1998
[38] Ji Oh Song,Edward J.Haug. Dynamic analysis of planar flexible mechanisms. Computer Methods In Applied Mechanics And Engineering 24(1980) 359-381
[39] R.Seifried,B.Hu,P.Eberhard. Numerical and experimental investigation of radial impacts on a half-circular plate. Multibody System Dynamics 9:265-281,2003
[40] X.Jia,D.Jin,L.Ji,J.Zhang. Investigation on the dynamic performance of the tripod-ball sliding joint with clearance in a crank-slider mechanism.Part1.Theoretical and experimental results. Journal of Sound and Vibration (2002) 252(5),919-933
[41] 阎绍泽.航天器中含间隙机构非线性动力学问题及其研究进展.动力学与控制学报.2004,2(2)
[42] 郭 吉 丰 , 升 谷 保 博 , 宫 崎 文 夫 . 具 有 摩 擦 的 刚 体 碰 撞 . 应 用 力 学 学报.2004,21(2)
[43] 尉立肖,刘才山.圆柱铰间隙运动学分析及动力学仿真.北京大学学报.2005,41(5)
[44] 俞武勇,季林红,阎绍泽,金德闻,贾晓红.含间隙机构运动副的动力学模型. 机械科学与技术.2001,20(5)
[45] 张佳楫.含间隙机构运动副动力学模型研究.西安电子科技大学.2005
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