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含转动副间隙的两转动并联机构动力学建模与动态特性分析

HOU Yulei,JING Guoning,DENG Yunjiao,YANG Yandong,ZENG Daxing

China Mechanical Engineering（2018）

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Abstract
鉴于Lankarani-Nikravesh接触力模型的不足,提出一种修正的接触力模型,并验证其有效性.以含转动副间隙RU-RPR并联机构为研究对象,分别以修正的接触力模型和修正的Coulomb法则计算法向与切向接触力,以微分代数形式建立动力学模型,加入Baumgarte违约稳定法并借助四阶Runge-Kutta法予以数值求解,分析了不同摩擦因数对机构动态特性的影响.
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Key words
contact force,clearance,dynamics,parallel mechanism
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