Method for increasing motion stability of link mechanism with clearance

Abstract

The present invention relates to a method for increasing motion stability of a link mechanism with a clearance. According to the multi-body system dynamics theory, based on multi-body system dynamics and kinematic pair clearance contact impact models, a link mechanism dynamics model taking regard of the kinematic pair clearance is established, the influence of the clearance on link mechanism dynamics behaviors is numerically simulated and analyzed, then to minimize the maximum peak of motion acceleration jitters of the link mechanism, the influence of the clearance is reduced by optimally designing and adjusting the mechanism rod length, and furthermore, the motion stability of the mechanism is increased. Through optimally designing and adjusting the mechanism rod length, the influence of the clearance on mechanism performance is reduced, and the motion stability of the mechanism with the clearance is increased. The method is simple, feasible and practical, clearance impact characteristics are considered, and furthermore, the method can be widely used in link mechanisms of various types.

Description

technical field [0001] The invention relates to the field of mechanical technology, in particular to a method for improving the movement stability of a link mechanism with gaps. Background technique [0002] With the continuous development of precision mechanical engineering, the mechanical system is moving towards the goal of high precision, high efficiency, high reliability and long life. In engineering practice, the mechanical system realizes the dynamic transmission and motion requirements of the system through mechanisms, etc., so Mechanisms are an important part of mechanical systems. Usually, the more complex the mechanism, the more components, and the more powerful the functions, the more kinematic pairs need to be used. However, in the actual mechanism, due to the need for dynamic fit, manufacturing errors, friction and wear, etc., the gap between the kinematic pairs in the mechanism is unavoidable. [0003] The existence of the gap will increase the gap collision...

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Problems solved by technology

Or simplify the kinematic pair gap to a massless rigid rod, and then transform the original gap-containing mechanism into a gapless multi-rod multi-degree-of-freedom system for motion analysis and design. The disadvantage of this method is that the contact between the kinematic pair and sub-elements is ignored. The elastic deformation of the surface cannot truly reflect the contact and collision characteristics of the kinematic pair of the mechanism with clearance, which is inconsistent with the actual situation

In addition, previous studies mostly carried out kinematic precision optimization design based on the kinematic analysis of mechanisms with backlash, but did not consider the dynamic characteristics of the contact collision of the kinematic pair backlash, which did not conform to the essential characteristics of the dynamics of the backlash mechanism.

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