摘要
为了精确研究剪式线性阵列可展结构的动力学性能,在该机构的运动副中引入间隙,通过含间隙转动副元素之间的运动规律建立了该运动副的运动学模型。基于Gonthier接触力模型和修正的Coulomb摩擦力模型分别计算了含间隙转动副元素之间的法向与切向接触力。进一步把该接触力转换到间隙运动副所联接的杆件与滑块的质心处,并将其集成到剪式可展结构动力学模型的广义力中,从而成功地将关节间隙效应引入到可展结构中。采用一种新的违约校正法直接对系统的坐标和速度进行修正,避免了数值结果的发散并可确保将违约控制在给定的精度范围内。通过数值分析预测了运动副间隙对剪式线性阵列可展结构动力学性能的影响,为研究可展结构的运动精度和机构设计提供了参考和依据,拓展了间隙碰撞模型的应用范围,有利于工程实际应用。
In order to precisely research the dynamics performance of a deployable structure based on a scissor-like element,clearances were introduced into one of all joints in the scissor-like element so that it was closed to the real mechanism.The kinematic model of the revolute joint with clearance was established by the principle of the motion between joint elements.The normal and tangential contact forces between joint elements were described by a Gonthier contact force model and a correctional Coulomb friction model.The contact forces between the bearing and the journal were converted to the mass centers of link and the slider connected by this clearance joint.The converted contact force and the additionaltorque were integrated to a generalized force in motion equations of the deployable structure,and then the effect of joint clearance was introduced to the scissor-like element.A direct default correction method was used to directly modify the coordinates and speeds of the system to avoid the numerical results divergence.Also,this method can control the default within a given range of accuracy.The influence of revolute joint clearance on the dynamic performance of the linear array deployable structure was predicted by means of numerical analysis,providing a reference and basis for the study of the motion accuracy and mechanism design of deployable structures.Furthermore,the simulation results extend the application range of the clearance collision model, which is helpful for engineering applications.
出处
《中国空间科学技术》
EI
CSCD
北大核心
2016年第3期41-49,共9页
Chinese Space Science and Technology
基金
国家自然科学基金(51175422)
