Dynamics Behavior Analysis of Parallel Mechanism with Joint Clearance and Flexible Links

被引：16

作者：

Chen Xiulong ^{[1
]}

Jia Yonghao ^{[1
]}

Deng Yu ^{[1
]}

Wang Qing ^{[2
]}

机构：

[1] Shandong Univ Sci & Technol, Coll Mech & Elect Engn, Qingdao 266590, Peoples R China

[2] Shandong Univ Sci & Technol, Inst Nanoengn, Qingdao 266590, Peoples R China

来源：

SHOCK AND VIBRATION | 2018年 / 2018卷

关键词：

SLIDER-CRANK MECHANISM; CONTACT FORCE MODEL; IMPACT ANALYSIS;

D O I：

10.1155/2018/9430267

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

In this study, the dynamics behaviors analysis of parallel mechanism considering joint clearance and flexible links are investigated using a computational methodology. The nonlinear dynamic model of 4-UPS-RPS spatial parallel mechanism with clearance in spherical joint and flexible links is established by combining KED method and Lagrange method. The dynamic responses including collision force and motion characteristics of the moving platform are obtained. Chaos and bifurcation are analyzed. The effects of different clearances on the dynamics behaviors of the parallel mechanism are studied. The results show that 4-UPS-RPS spatial parallel mechanism is very sensitive to joint clearance and flexible links, and small variations in the clearance value can cause the mechanism change from periodic motion to chaotic motion. This research provides a methodology for forecasting the dynamics behavior of parallel mechanisms with clearance and flexible links.

引用

页数：17

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