The Inverse Dynamics Problem of Closed Loop Five Bar Mechanism Considering Joints Friction
-
摘要: 提出一种修正的指数摩擦模型,给出了摩擦系数与速度的关系式,避免了速度零点的多值问题,建立了机构运动副摩擦的数学模型。建立了包含运动副摩擦的平面闭链五杆机构的逆动力学模型,并给出了一种迭代求解方法,可得到运动副的约束力、驱动力和运动副摩擦力矩。在相同运动规律下,对计入和不计入运动副摩擦两种情形进行驱动力矩的比较。仿真结果表明:两种情形下的驱动力矩有较明显的差异,在速度反向区,运动副摩擦力矩的变化剧烈,对机构驱动力矩的影响最大,在机构运行速度较低时,这种现象更为明显。Abstract: The characteristic of joint friction in closed-loop mechanism was analyzed, and a mended exponentialfrictional model which could avoid detecting the point of zero velocity was put forward in this paper.The mathematicmodel of joint friction in closed-loop mechanism was described.The inverse dynamics model of a 5R closed-loopmechanism considering the joint friction was proposed.An iterative arithmetic was presented to solve the model,and joints force, joints friction moment and actuating moments were acquired.Results of simulation indicated thatthe joint friction had obvious influence about drive moments of the mechanism, and the effect deteriorated in the region of relative velocity reversing direction.
-
[1] Quyang P R, Li Q, Zhang W J, Guo L S. Design, modeling and control of a hybrid machine[J]. Mechatronics, 2004,(14):1197~1217 [2] Yu H N. Modeling and control of hybrid systems: a five bar mechanism case[J]. Internal Journal of Automation and Computing,2006,(3):235~243 [3] 于红英, 唐德威, 王建宇. 平面五杆机构运动学和动力学特性分析[J]. 哈尔滨工业大学学报, 2007, 39(6): 940~943 [4] 周双林. 实现轨迹的混合驱动五杆机构设计理论及实验研究[D]. 上海交通大学, 2001 [5] Craig J. Introduction to Robotics [M]. New York: AddisonWesley Publishing Company, 1986 [6] 李仁军, 刘宏昭, 李鹏飞. 考虑非线性摩擦的混合输入机构动力学研究[J]. 机械科学与技术, 2009, 28(2): 222~226 [7] 关文芳, 唐进元, 赵耐丽等. 考虑摩擦与接触变形的正弦机构动力学建模与仿真[J]. 机械科学与技术, 2011, 30 (9): 1515~1518 [8] 刘强, 尔联洁, 刘金琨. 摩擦非线性环节的特性、 建模与控制补偿综述[J]. 系统工程与电子技术, 2002, 11: 45~52 [9] Armstrong-Helouvry B, Pierre Dupont, C Canudas De Wit. A survey of models, analysis tools and compensation methods for the control of machine with friction[J]. Automatica, 1994, 30(7): 1083~1138
点击查看大图
计量
- 文章访问数: 152
- HTML全文浏览量: 29
- PDF下载量: 5
- 被引次数: 0