浙江大学学报(工学版)  2020, Vol. 54 Issue (2): 348-356    DOI: 10.3785/j.issn.1008-973X.2020.02.016
 机械与能源工程

Dynamic characteristics of spatial parallel mechanism with spherical joint clearance
Yan-biao LI(),Tao-tao XU,Hang ZHENG,Ze-sheng WANG
College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310032, China
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Abstract:

A rigid body dynamics model of a spatial parallel mechanism with multiple spherical joint clearances was established, in order to analyze the dynamic characteristics of the 5-PSS/UPU parallel mechanism with spherical joint clearances. A kinematic model of parallel mechanism with spherical joint clearances was established based on the 'contact-separation' two-state model. The normal and tangential contact force models between the kinematic joint elements were established based on an improved contact model and a modified Coulomb friction model, and the contact force was further transformed into the centroid of the component corresponding to the kinematic joint elements. The Newton-Eulerian method combined with the Lagrange multiplier was used to establish the dynamic model of the parallel mechanism with clearances and the dynamic characteristics were analyzed by numerical simulation.The root-mean-square error (RMSE) values of the angular acceleration of the moving platform with clearance of 0.05, 0.10, 0.20 and 0.40 mm were calculated, which were 40.046, 65.385, 98.489 and 145.715 rad/s2, respectively. Results show that in the case where there are multiple spherical joint clearances, when the clearance value increases, the dynamic performance of the spatial parallel mechanism visibly deteriorates.

Key words: parallel mechanism    spherical joint clearance    contact model    Newton-Eulerian method    dynamic characteristic

 CLC: TH 113

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#### 引用本文:

Yan-biao LI,Tao-tao XU,Hang ZHENG,Ze-sheng WANG. Dynamic characteristics of spatial parallel mechanism with spherical joint clearance. Journal of ZheJiang University (Engineering Science), 2020, 54(2): 348-356.

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 图 1  5-PSS/UPU并联机构模型 图 2  5-PSS/UPU并联机构结构简图 图 3  含球面副间隙运动学模型 图 4  含间隙的并联机构闭环矢量图 图 5  5-PSS/UPU并联机构部件局部坐标系 表 1  5-PSS/UPU并联机构结构参数 图 6  含球面副间隙的5-PSS/UPU并联机构动力学模型迭代计算流程图 图 7  动平台位移变化曲线 图 8  动平台速度变化曲线 图 9  动平台加速度变化曲线 图 10  不同间隙尺寸下角加速度的均方根误差
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