考虑球面副润滑间隙的空间并联机构动力学建模与响应分析

doi:10.13196/j.cims.2023.09.002

计算机集成制造系统 ›› 2023, Vol. 29 ›› Issue (9): 2890-2898.DOI: 10.13196/j.cims.2023.09.002

考虑球面副润滑间隙的空间并联机构动力学建模与响应分析

陈修龙⁺,樊慧凯

山东科技大学机械电子工程学院

出版日期:2023-09-30 发布日期:2023-10-11
基金资助:
国家自然科学基金资助项目(52275115);山东省自然科学基金资助项目(ZR2022ME040)。

Dynamic modeling and response analysis of spatial parallel mechanism considering lubrication clearance of spherical joints

CHEN Xiulong⁺,FAN Huikai

College of Mechanical and Electronic Engineering,Shandong University of Science and Technology

Online:2023-09-30 Published:2023-10-11
Supported by:
Project supported by the National Natural Science Foundation,China(No.52275115),and the Natural Science Foundation of Shandong Province,China(No.ZR2022ME040).

摘要/Abstract

摘要： 为了分析含球面副润滑间隙的空间并联机构动力学响应特性,以2RPS-SPR(R转动副,P移动副,S球面副)空间并联机构为研究对象,结合Reynolds方程和Gümbel边界条件,建立了含多个球面副润滑间隙的空间并联机构动力学模型,对比分析了含润滑间隙、不考虑间隙的理想情况和含干摩擦间隙的机构动力响应特性,以及分析了不同动力粘度、不同间隙值对润滑状况下的机构动力学响应的影响。结果表明,润滑间隙相比于干摩擦间隙能有效改善并联机构的动力特性,且随着润滑油动力粘度的增大以及间隙值的减小,机构运行状况越好。该研究为含球面副润滑间隙并联机构动力学响应特性分析提供了理论方法,为指导实际生产提供了理论依据。

关键词: 空间并联机构, 球面副间隙, 润滑间隙, 动力学响应

Abstract: To analyze the dynamic response characteristics of spatial parallel mechanism with lubrication clearance of spherical joints,the dynamic model of Rvolute joint,Prismatic joint,Spherical joint—Spherical joint,Prismatic joint,Rvolute joint(2RPS-SPR)spatial parallel mechanism with lubrication clearance of multiple spherical joints was established by combining with Reynolds equation and Gümbel boundary condition.The dynamic response characteristics of the mechanisms with lubricating clearance,ideal case without considering joint and dry friction clearance were compared and analyzed,and the influence of different dynamic viscosity and clearance value on the dynamic response of the mechanism under lubrication was analyzed.The results showed that the lubrication clearance could effectively improve the dynamic characteristics of the parallel mechanism compared with the dry contact clearance,and the operating condition of the mechanism was better with the increase of the dynamic viscosity of the lubricating oil and the decrease of the clearance value.This study provided a theoretical method for the dynamic characteristics analysis of parallel mechanisms with multiple spherical pairs and provided a theoretical basis for guiding the actual production.

Key words: spatial parallel mechanism, spherical joint clearance, lubrication clearance, dynamic response

中图分类号:

TH113

陈修龙, 樊慧凯. 考虑球面副润滑间隙的空间并联机构动力学建模与响应分析[J]. 计算机集成制造系统, 2023, 29(9): 2890-2898.

CHEN Xiulong, FAN Huikai. Dynamic modeling and response analysis of spatial parallel mechanism considering lubrication clearance of spherical joints[J]. Computer Integrated Manufacturing System, 2023, 29(9): 2890-2898.

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考虑球面副润滑间隙的空间并联机构动力学建模与响应分析

Dynamic modeling and response analysis of spatial parallel mechanism considering lubrication clearance of spherical joints

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