一种考虑轴承缺陷影响的机构动力学分析方法

为有效地揭示轴承滚道缺陷特征对高速机构动态响应特性的影响规律,在多体动力学理论框架下提出一种考虑轴承缺陷影响的机构动力学分析方法。该理论采用力约束方法构建机构中滚动轴承转动副模型,通过分析轴承中各滚动体与滚道缺陷几何特征之间的接触关系,计算滚动体接触载荷并获取轴承转动副等效约束反力,探讨轴承缺陷激励对高速机构动态性能的影响规律。在此基础上,以含深沟球轴承的曲柄滑块机构为例,分析轴承滚道表面局部式缺陷和分布式波纹度缺陷对机构动力学特性的影响。研究表明,轴承滚道缺陷将引发轴承各滚动体接触动载荷突变。这种突变载荷经传播后,直接影响着机构中各构件的运动状态,对高速机构运动平稳性将产生严重影响。此外,该理论方法具有一般性,具有不同滚道几何缺陷特征的滚动轴承均可嵌入到本方法中,分析轴承转动副缺陷对各类机构动力学特性的影响。     

含润滑间隙和曲轴转子-轴承结构的平面柔性多连杆机构多体动力学建模与动态误差分析

为预测多连杆高速精密压力机的动态精度,有必要建立多连杆机构的动力学模型。传统模型仅考虑间隙和构件柔性等因素,通常忽略了曲轴转子-轴承系统结构的影响,导致多连杆高速精密压力机的动态分析精度下降。本文提出了一种含润滑间隙和曲轴转子-轴承结构平面柔性多连杆机构多体动力学建模与仿真方法并构建了滑块与曲轴两者之间的动态尺寸链,该方法同时考虑了间隙,连杆和曲轴的柔性以及轴承的刚度等因素。仿真结果表明,在空载和冲裁两种工况下,基于含润滑间隙和曲轴转子-轴承结构平面柔性多连杆机构多体动力学模型的动态响应比传统模型更接近实验结果,验证了所提出方法的有效性。实验结果表明,在空载工况下,滑块在下死点位置存在剧烈加速度波动,而冲裁工况下,滑块在下死点位置产生冲击峰。曲轴转子-轴承结构的存在加剧了滑块位移偏离误差,润滑油的存在对整个机构起到了缓冲作用,但并不能显著提高滑块的运动精度。下滑块与连杆之间运动副间隙处润滑油膜不足以抵消运动副元素之间的碰撞和冲击,导致润滑油膜在运行过程中破裂,销轴与轴承衬套之间只存在一种永久接触状态。此外,研究了间隙尺寸、打击力以及轴承的接触角对机构动态误差的影响规律。     

铰接连接结构动态响应与强度计算方法

针对使用铰链连接结构的曲柄连杆可动机构,分别建立其刚性多体系统和刚-柔耦合多体系统模型,并在同一运动控制规律下分析柔性构件弹性变形存在与否对运动机构动态响应和约束载荷的影响。对可调机构建立刚-柔耦合模型,对不同速度的系统运动规律下研究构件惯性项和杆件所受约束的载荷-时间关系,分析在同位移关系下惯性项与外力项的变化关系。最后利用多体动力学商业分析软件将多体动力学计算结果作为输入,使用有限元软件实现全运动过程中强度计算分析。     

考虑杆件柔性的间隙机构系统磨损分析

基于机械系统动力学分析软件ADAMS建立了含多间隙曲柄滑块机构的动力学模型,利用冲击函数理论模拟间隙处的接触碰撞作用,详细研究了构件柔性和铰链间隙对机构系统动力学特性的影响,并应用Archard磨损模型对间隙运动副的磨损进行了预测。当考虑杆件柔性时,应用ANSYS程序创建连杆的有限元模型,取连杆的前五阶模态导入ADAMS中建立含柔性连杆的多间隙机构动力学模型并进行动力学仿真计算,结果发现,考虑杆件柔性时的间隙机构系统动态行为在很大程度上趋于理想机构,在曲柄转动一个周期的过程中间隙运动副除在几个特定的位置处发生了较大的碰撞外,轴销与轴套均保持连续接触,且预测所得的磨损量也较小。     

考虑热效应的柔性多体系统的动力学分析

机械系统因热膨胀和热弯曲引起的热误差是工程研究的一个重要问题。为了研究热效应对柔性多体系统动力学特性的影响,本文首先从虚功原理出发,用假设模态法对平面梁进行离散,在温度变化和y方向的温度梯度已知的情况下,建立了单个柔性梁的动力学变分方程,然后根据各柔性体之间的运动学约束关系,引入拉格朗日乘子,建立了柔性多体系统的第一类拉格朗日动力学方程,并推导了约束力的计算公式。曲柄滑块机构的数值仿真表明:温度变化对系统动力学特性的影响不仅与温度变化率和系统惯量有关,还取决于几何位置。当运动机构趋近于奇异位置时,热效应最为显著。进一步研究表明,温度梯度引起横向变形和横向约束力平均值的变化。     

考虑打纬阻力的柔性高速打纬系统间隙计算与仿真

针对四连杆打纬系统的高速工作特性,在同时考虑运动副间隙和打纬阻力影响下对其进行仿真研究。将两状态非连续接触模型应用于曲拐轴承间隙建模,通过机构学设计和打纬原理分析,构建基于Adams/View的双侧四连杆打纬系统刚柔耦合模型。利用step函数将筘座打纬阻力转化为摇轴等效扭矩,在不同间隙状态下对其进行接触动力学仿真。结果显示：柔性体仿真与刚体仿真存在明显结果差异,前者更能反映真实的打纬承载状态;0.03 mm和0.06 mm间隙对筘座振动影响较大,不利于织机系统减振降噪;0.09 mm间隙不仅会使主轴轴承出现高频支反力,而且还将加剧曲柄与牵手的接触碰撞;含间隙柔性主轴质心轨迹与理想轨迹存在多处交叠,致使曲拐轴承内部发生多点接触碰撞。有助于探究含间隙四连杆打纬系统的力学特性和工作机理。     

偏置直动盘形凸轮机构挺杆位置误差的计算与分析

对偏置直动盘形凸轮机构进行了运动分析,提出影响该凸轮机构运动精度的原因主要有尺寸间隙类因素、动态特性类因素。尺寸间隙类因素包括凸轮和滚子的几何尺寸和偏心尺寸、推杆偏置尺寸、转动副和移动副间隙尺寸及磨损量;动态特性类因素包括凸轮机构的运动加速度、凸轮曲线特性、转动惯性、弹簧回位滞后引起的推杆位置误差。具体阐述了影响运动精度的几种形式,并采用小位移的线性叠加原理计算了若干因素所引起的推杆位置误差。     

含橡胶连杆的曲柄滑块机构非线性动力学研究

针对橡胶材料构件对机构动力学影响问题,利用有限元方法构建了含橡胶连杆的刚柔耦合曲柄滑块机构动力学模型。对曲柄滑块机构中橡胶材料构件的柔性、曲柄转速、曲柄和橡胶连杆轴承外径尺寸等方面进行了研究,对不同条件下曲柄滑块机构中滑块的位移、速度和加速度等变化规律进行了归纳,通过相图观察法、计算最大Lyapunov指数法和功率谱法讨论了刚柔耦合系统的运动稳定性。研究结果表明:曲柄滑块机构中,橡胶材料柔性和曲柄转速变化对滑块的位移、速度影响较小,对滑块的加速度影响较大;在连杆有效长度不变的条件下,曲柄和橡胶连杆轴承外径尺寸变化对滑块的位移、速度影响较小,对滑块的加速度影响较大;考虑橡胶材料构件柔性时滑块运动是混沌的,曲柄转速和橡胶连杆轴承外径尺寸变化对系统运动的稳定性会产生一定的影响。     

误差对RV型减速机传动精度的灵敏度研究

以RV型减速机为研究对象,综合考虑零件加工误差、装配误差以及间隙等因素的影响,依据D＇Lambert原理建立系统的动态传动精度非线性动力学模型,并利用数值微分法对动态传动精度进行了灵敏度分析。研究表明：针轮齿槽偏差及其齿距累积偏差、摆线轮齿槽偏差及其齿距累积偏差、曲柄轴偏心凸轮的偏心误差以及摆线轮与曲柄轴间的轴承间隙等因素对其传动精度敏感程度较高。该研究成果对设计、制造高精度RV型传动具有重要指导意义。     

考虑时变侧隙与时变轴承刚度的含质量偏心齿轮系统动力学分析

为了探究齿侧间隙与轴承刚度的时变特性对含质量偏心齿轮系统动态特性的影响,结合其耦合后的动力学模型,并利用龙格库塔(Runge-Kuta)算法,求解了时变侧隙和时变轴承刚度;根据不同偏心距,对齿轮系统进行了动态响应分析。首先,根据几何关系建立了因轴承变形引起的时变齿侧间隙模型,利用赫兹接触理论推导了滚动轴承时变轴承刚度公式;然后,基于时变齿隙与时变轴承刚度,建立了含齿面摩擦与质量偏心的六自由度直齿轮系统动力学模型;最后,分析了在不同偏心距下齿隙与轴承刚度的时变特性对齿轮系统动态响应的影响。研究结果表明：考虑齿隙和轴承刚度的时变特性后,动态传递误差幅值相比恒定齿隙和轴承刚度所对应幅值分别提高了16.46%、2.02%;偏心距从0 mm增加到0.5 mm及1 mm时,其对应系统的最大边频幅值从0μm增加到0.19μm和0.33μm;质量偏心会影响系统动态响应,且随偏心距的增大,其由稳定的周期运动变为有波动性的周期运动,波动幅度与偏心距成正相关;同时,质量偏心会导致系统出现边频,边频幅值随偏心距的增大而增大;因此,应将偏心距控制在合理范围内,以防其过大而引起齿轮系统发生不稳定现象。     

Effects of restitution coefficient and material characteristics on dynamic response of planar multi-body systems with revolute clearance joint

To study the effects of restitution coefficient and material parameters on the dynamic characteristics of planar multi-body systems with revolute clearance joints, a comprehensive methodology for clearance revolute joints in a planar multibody system is presented and analyzed. A new nonlinear contact force model, which accounts for the axial length of bearing and has a wide suitable range of impact situation, is presented to evaluate the contact force between journal and bearing. Furthermore, a modified Coulomb friction force model also presented to consider the effect of friction in clearance joint. Then, a typical journal-bearing model and a planar slider-crank mechanism has revolute clearance joint are used as examples. From the main numerical results under the different restitution coefficient and material parameters, it can be concluded that coefficient of restitution has significant effects on dynamic response of multi-body systems with revolute clearance joint. Additionally, materials of journal and bearing with smaller Young’s modulus will cause obvious delay on dynamic response of multi-body systems.     

基于间隙运动副的往复压缩机传动机构动力学分析

以往复压缩机传动机构为对象,利用ADAMS软件的碰撞函数,建立带有转动副间隙的往复压缩机传动机构多体动力学模型,研究间隙转动副对机构动力学性能的影响。考虑间隙幅值、气缸载荷、曲轴转速和柔性连杆等影响因素,进行五种工况的动力学分析。仿真的结果表明所述因素对机构的动力学性能影响显著。     

含间隙机构的动力学仿真与分析

使用ADAMS建立含运动副间隙的曲柄滑块多体动力学模型.根据Hertz理论,设置适当的仿真参数,对含运动副间隙的曲柄滑块模型进行动力学仿真分析.通过理想关节与含间隙关节的接触力以及运动机构中某一点的位移、速度、加速度等结果的比较,得出间隙对机构运动副的影响.     

Thermal characteristics analysis and error prediction for lubricated multi-link high-speed precision presses

Thermal models are important in the process of predicting the thermal characteristics and corresponding thermal error of multi-link high-speed precision presses (MLHSPPs) with an oil-lubrication system. Previous models only involved the effects of bearing stiffness, temperature change of bearings, flexibility of crank shaft on the heat generation power, while the influences of revolute clearance joint and flexibility of linkage are seldom considered, which inevitably reduces the accuracy of thermal analysis. To overcome this problem, dynamic models of flexible multi-link mechanisms (MLM) with clearance, lubrication, crankshaft-bearing system are constructed, the interaction forces between pin and bushing are obtained to calculate its heat generation power. Then, an improved model of MLHSPP with lubrication is proposed to analyze the temperature evolution and the thermal error between slider and work table at the position of LDP, by considering bearing stiffness, temperature change of bearings, flexibility of crank shaft, linkage, clearance, lubrication and thermal contact resistance all together. Compared with results from traditional models, the simulation data from this improved thermal model agree well with experiment, which proves the validity of the proposed model. Furthermore, the temperature rise and the thermal error of MLHSPP between slider and work table at the position of LDP under different input speeds, lubricating oil flux and contact angles of ball bearing were also studied.

     

含非规则粗糙间隙表面铰链关节的平面柔性多连杆传动系统动态误差与运动副磨损周期行为分析

传统旋转间隙关节接触模型假定销轴和衬套接触面形状是规则的并忽略了磨损效应的影响,降低了机构动力学模型预测精度。提出了一种含非规则粗糙间隙表面铰链关节的平面柔性多连杆机构多体动力学建模、磨损预测和动态误差分析方法。为准确描述运动副元素间碰撞行为,考虑滑动轴承间隙关节的磨损效应,提出了一种非规则粗糙间隙表面铰链关节的改进接触模型。在此基础上,考虑柔性杆的影响,基于绝对节点坐标法建立了含非规则粗糙间隙表面铰链关节的平面柔性多连杆传动系统多体动力学模型。与基于传统光滑间隙模型的结果相比,基于非规则粗糙间隙改进模型的多连杆机构动态响应更接近于试验值,验证了所提出计算方法的有效性。仿真结果表明,选用CuSn10P和CuPb30作为铰链衬套材料能够有效降低多连杆机构滑块动态响应偏差和提高机构的运动精度;表面粗糙度过高会导致运动副磨损加剧,过低则会降低间隙表面微凸体对碰撞能量的吸收。此外,磨损加剧了间隙表面轮廓不规则度,导致机构动态响应的不稳定性增大,运动精度降低。     

Investigations on the dynamic characteristics of a planar slider-crank mechanism for a high-speed press system that considers joint clearance

Clearances in the joints of mechanisms are unavoidable because of numerous uncertainties, such as manufacturing tolerances, assembly processes, and progressing wear. The dynamic characteristics of a planar slider-crank mechanism, including clearance joint and balancing mechanism, are investigated in this study using a computational method. A suitable model is built using the simulation software ADAMS, in which actual features, such as contact and friction, are considered. A contact-impact model that incorporates the IMPACT function and that considers energy loss in the contact process, is also built. The experimental platform is established and acceleration experiments on the mechanical system at different driving speeds are conducted. Obtained tests results demonstrate that the dynamic response of a multibody mechanical system can be effectively predicted using the proposed method. Furthermore, the effects of the driving speed of the crank shaft, the size of the joint clearance, and the balancing mechanism on the dynamic characteristics of the mechanism are studied.     

Modeling and simulation of joint clearance effects on mechanisms having rigid and flexible links

In this study, kinematic and dynamic characteristics of a planar four-bar mechanism having joint clearance and link flexibility are investigated. Assuming that joint clearance as a virtual massless link, artificial clearances are developed at crank-coupler and coupler-follower joints. Contact model in joints with clearance is established using the nonlinear spring-damper model and the friction effect is considered using the Coulomb friction model. Then the simulation is implemented and the kinematic and dynamic characteristics of model mechanism are investigated. The computational methodology can predict the effects of clearance on planar mechanism having rigid and flexible links. The results are evaluated for the case of stationary phase, and naturally show that extreme values occur in output of the mechanism with clearances. Due primarily to the suspension effect of the flexible link, values of these peaks in the flexible mechanism decrease relative to that of the rigid mechanism. In addition, the flexibility has a significant effect on the vibration response of the mechanism with joint clearance.     

部件柔性对含间隙多体系统动力特性的影响

构建了含有混合间隙的刚柔耦合多体系统动力学模型,研究了部件柔性对多体系统动力特性的影响。首先,建立了混合间隙碰撞力模型;然后,以曲柄滑块为研究对象,采用自然坐标法和绝对节点坐标法分别建立了刚性构件和柔性构件的动力学模型,通过时域和频域分析了连杆柔性对动力特性的影响。结果表明,柔性构件对间隙碰撞力有一定的缓冲作用,能缓冲碰撞的高频振动,而且柔性部件随着弹性模量的减小对高频响应的缓冲效果更加明显。     

多间隙运动副四杆机构运动特性研究

运动副存在间隙会造成机构精确度的降低,为了研究运动副间隙对机构运动可靠性的影响,以含间隙转动副的平行双曲柄四杆机构为研究对象.根据运动副对目标构件的作用特性定义了运动副的性质,利用ADAMS研究了间隙运动副对机构不同目标构件运动特性的影响.结果表明:二级驱动间隙副比一级驱动间隙副对目标杆Ⅲ运动特性的影响更明显,但杆Ⅲ长...     

Multibody contact dynamics on mechanisms with deep groove ball bearing joints

The dynamics of ball bearings are important to fatigue breakage, dynamic performance and motion precision of mechanisms connected by ball bearings joints with multi-clearances. In this study, a new method is proposed for multibody dynamics analysis on mechanisms under the effects of radial internal clearances and impact of balls/cage pockets interactions of ball bearings. Including balls/rings interactions and balls/cage pockets interactions, the three dimensional dynamics models of the crank slider mechanism are established and calculated by generalized-α algorithms on the basis of Hertzian contact theory and penalty function method. The rules of eccentric trajectories of inner and outer ring center for one ball bearing joint are verified with the results calculated by XU’s references. The results of dynamic errors, motion trajectories, dynamic forces are achieved under different speeds, radial clearances and number of ball bearings. The speeds and radial clearances are critical to the dynamic performances and motion precision of mechanisms, especially the number of ball bearings. The number of ball bearings is important to impact force and motion stability of the mechanism.