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基于改进接触力模型的两种间隙关节对平面机械系统动力学的影响

Influence of two kinds of clearance joints on the dynamics of planar mechanical system based on a modified contact force model.

作者信息

Tan Haiyan, Li Li, Huang Qiang, Jiang Zhuoda, Li Qingxiang, Zhang Youming, Yu Donglin

机构信息

School of Mechanical & Intelligent Manufacturing, Jiujiang University, Jiujiang, 332005, China.

State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China.

出版信息

Sci Rep. 2023 Nov 23;13(1):20569. doi: 10.1038/s41598-023-47315-1.

DOI:10.1038/s41598-023-47315-1
PMID:37996506
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10667275/
Abstract

This study takes the slider-crank mechanism with revolute joint and translational joint as the research object and studies the contact force model of the clearance joint and the influence of the hybrid clearance joints on the nonlinear dynamic behavior of the mechanism. A modified contact force model is established based on the simplified elastic oscillator model, which can be used as a normal force in clearance joint. In the new contact force model, the component n of the indentation depth can be arbitrarily selected and it can support the calculation of contact force for both fully elastic recovery, non-elastic recovery and fully inelastic recovery. Based on the LuGre friction model, the tangential friction model of the clearance joint is given. Thus, the normal force and tangential force during the dynamic contact of the clearance joint are formed. Combining Lagrange's equations of the first kind with the modified normal force and tangential friction force, the dynamic equations of the multi-body system with clearance joints are established. The Baumgarte stabilization method is used to improve the numerical stability. The correctness of the dynamic prediction model in the mechanism with clearance joint is verified by experiment. The dynamic analysis of the slider-crank mechanism with mixed clearance joints shows that the revolute clearance joint has a greater influence on the mechanism than the translational clearance, and the revolute clearance joint plays a leading role in the dynamic response.

摘要

本研究以具有转动副和平移副的曲柄滑块机构为研究对象，研究间隙关节的接触力模型以及混合间隙关节对机构非线性动力学行为的影响。基于简化的弹性振子模型建立了改进的接触力模型，该模型可作为间隙关节中的法向力。在新的接触力模型中，压痕深度的分量n可以任意选取，它能支持完全弹性恢复、非弹性恢复和完全非弹性恢复情况下的接触力计算。基于LuGre摩擦模型，给出了间隙关节的切向摩擦模型。由此形成了间隙关节动态接触过程中的法向力和切向力。将第一类拉格朗日方程与改进后的法向力和切向摩擦力相结合，建立了含间隙关节多体系统的动力学方程。采用鲍姆加特稳定方法提高数值稳定性。通过实验验证了间隙关节机构中动态预测模型的正确性。对具有混合间隙关节的曲柄滑块机构的动力学分析表明，转动间隙关节对机构的影响比平移间隙更大，转动间隙关节在动态响应中起主导作用。

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