Nonlinear Modal Analysis of Parallel Pointing Mechanisms Considering Time-varying Clearances

被引：0
|
作者：
Sun J. [1 ,2 ]
Han X. [1 ,2 ]
Wei Y. [1 ,2 ]
Chen S. [1 ,2 ]
Li S. [1 ,2 ]
机构：
[1] School of Mechanical Engineering, Yanshan University, Qinhuangdao
[2] Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao
来源：
Li, Shihua (shli@ysu.edu.cn) | 1700年 / Chinese Mechanical Engineering Society卷 / 32期
关键词：
Clearance of kinematic pair; Nonlinear modal; Residual stiffness; Vibration system modeling;
D O I：
10.3969/j.issn.1004-132X.2021.14.008
中图分类号：
学科分类号：
摘要：
Aiming at the problems that it was difficult to establish the vibration model of the complex space mechanisms, a simple modeling method of the vibration model of the parallel pointing mechanisms was proposed based on the number axis method, and the feasibility of the method was proved by the ANSYS modal analysis. In order to study the dynamic influences of the clearances of the kinematic pair on the modal characteristics of the mechanisms, considering the residual stiffness of the kinematic pairs, an improved method for establishing the nonlinear equivalent stiffness coefficient of the kinematic pairs with clearances was proposed. The improved nonlinear equivalent stiffness coefficient was embedded in the mechanism vibration model, and a nonlinear vibration model was established considering the clearances of the time-varying kinematic pairs. The ADAMS was used to simulate the dynamics of the mechanisms considering the clearances. According to the simulation data, the nonlinear modal characteristics of the mechanisms affected by the time-varying clearances were analyzed. The research results may provide a theoretical basis for the dynamic performance optimization, vibration suppression and fault diagnosis of the parallel pointing mechanisms. © 2021, China Mechanical Engineering Magazine Office. All right reserved.
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页码：1700 / 1708and1715
相关论文
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