含间隙铰链并联机构的动力学分析

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以3-RRRT并联机构为对象,基于ADAMS仿真软件平台,在考虑库仑摩擦力条件下,利用非线性等效弹簧阻尼的概念建立含间隙铰链的接触动力学模型,在此基础上构建了机构的动力学分析模型.对该模型进行仿真,分析铰链在理想接触和含间隙时并联机构的动力学性能,同时还比较研究了机构一条支链存在铰链间隙和三条支链均存在铰链间隙时的动力学性能.结果表明铰链间隙对并联机构动平台的加速度及机构接触力都有较大影响,在机构设计时需要加以考虑. Based on the ADAMS（Automatic Dynamic Analysis of Mechanical Systems） simulation software platform,with the 3-RRRT parallel mechanism as the research object and the Coulomb＇s friction into consideration,the contact force model of joint with clearance is established by using the nonlinear equivalent spring-damp model.After simulating the model,comparing the dynamic characteristic of parallel mechanism which uses ideal joint use clearance joint,simultaneously comparing the dynamic characteristics of parallel mechanism with clearance in one chain with that in three chains,we have the result that shows that the clearance affects the acceleration of moving platform and mechanism＇ contact force,so clearance should be considered when designing the mechanism.