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为了研究运动副间隙对机构的影响 ,对机构进行动力学分析是一个必要环节。以曲柄滑块机构为例 ,考虑三球销滑动副间隙对机构动力学特性的影响。通过缩减变形获得树形系统 ,采用 Kane方法得到 8个一阶微分方程组 ;根据“动态分段”的思想 ,实现全局仿真 ,并给出算例。本文采用的动力学分析方法 ,使得分离状态和接触状态机构动力学方程形式统一 ,大大减小了方程推导和求解的工作量 ,对其它含间隙副机构的动力学研究具有普遍意义。
In order to study the effect of clearance on the mechanism, kinematic analysis of the mechanism is an essential step. Taking the crank-slider mechanism as an example, the influence of tri-ball sliding clearance on the dynamic characteristics of the mechanism is considered. By reducing the deformation, the tree system is obtained, and eight first-order differential equations are obtained by Kane’s method. According to the idea of “dynamic segmentation”, the global simulation is realized and an example is given. In this paper, the dynamic analysis method is adopted to unify the kinetic equations between the separated state and the contact state, which greatly reduces the workload of derivation and solution of the equation. It has universal significance for the dynamics research of other sub-mechanisms with the gap.