摘要
研究变胞机构在构态切换过程中的冲击问题。根据变胞机构的变胞方式,将构态切换时产生的冲击运动分为静冲击运动和动冲击运动两类。采用Newton-Euler方程分别建立变胞机构的静/动冲击动力学模型,并结合经典碰撞理论和恢复系数方程,推导出构态切换时变胞构件的静/动冲量求解模型。对变胞机构的静/动冲击动力学模型进行等效分析,分别求得变胞运动副处的冲量与静/动冲量之间的函数表达式,并以此为基础,结合树系统内部冲击动力学理论,建立变胞机构非变胞运动副处的冲量求解模型。以平面3自由度变胞机构和平面纸板折叠变胞机构为例,研究机构在构态切换时的冲击问题并进行数值仿真计算,分析不同输入特性和恢复系数对机构冲击运动的影响。所提理论与方法也适用于多体系统内部构件之间冲击问题的研究。
The impact problem of metamorphic mechanism in the process of configuration transformation is investigated.According to the metamorphic mode of the metamorphic mechanism,the impact motion generated by configuration transformation can be divided into stable impact motion and movable impact motion.The stable/movable impact dynamic models of metamorphic mechanism are established by the Newton-Euler equation,and the stable/movable impulse solving models are derived from classical collision theory and recovery coefficient equation.By equivalent analysis of the stable/movable impact dynamic models of the metamorphic mechanism,the functional relations between the impulse at the metamorphic joint and the stable/movable impulse are obtained respectively.Based on the internal impact dynamic theory of serial mechanism,the impulse solving model at non-metamorphic joint is established.Taking the planar 3-DOF metamorphic mechanism and the planar double folded metamorphic mechanism as examples,their impact problems are studied and numerical simulations are carried out to analyze the effect of different input characteristics and recovery coefficients on the impact motion.The proposed theory and method can also be applied to the study of impact between internal components of multi-body system.
作者
宋艳艳
畅博彦
金国光
魏展
李博
SONG Yanyan;CHANG Boyan;JIN Guoguang;WEI Zhan;LI Bo(School of Mechanical Engineering,Tiangong University,Tianjin 300387;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tiangong University,Tianjin 300387)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2020年第17期48-58,共11页
Journal of Mechanical Engineering
基金
天津市自然科学基金(17JCQNJC03900,18JCQNJC05300)
天津市教委科研计划(2018KJ205)
天津市高等学校创新团队培养计划(TD13-5037)
国家自然科学基金(51475330)资助项目。
关键词
变胞机构
构态切换
冲击运动
冲量求解模型
metamorphic mechanism
configuration transformation
impact motion
impulse solving model
