Dynamics Analysis of Square Unit and its Combined Mechanism with Joint Clearance |
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| Authors: | Jianfeng Li Sanmin Wang Bo Li Changjian Zhi and Qi'an Peng |
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| Affiliation: | School of Mechanical Engineering, Northwestern Polytechnical University, Xi''an 710072, China,School of Mechanical Engineering, Northwestern Polytechnical University, Xi''an 710072, China,School of Mechanical Engineering, Northwestern Polytechnical University, Xi''an 710072, China,School of Mechanical Engineering, Northwestern Polytechnical University, Xi''an 710072, China and School of Mechanical Engineering, Northwestern Polytechnical University, Xi''an 710072, China |
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| Abstract: | The deployable mechanisms consisting of square units are widely applied in aeronautics and astronautics,biomedicine, architecture and other fields, and joint clearance in such a mechanism is unavoidable. This study is carried out to accurately investigate the dynamic property of the mechanism.Firstly,a dynamics model was built by considering the motion characteristics between elements of joint with clearances. Secondly,based on Floures contact force model and LuGre friction force model,the tangential and normal contact force of revolute pair element with clearance were calculated respectively. Finally,square combined mechanisms' dynamic analytical method considering joint clearance was investigated, and constraint renege problem was resolved by adopting Baumgarte stable constraint method in integration process.Analytical result indicates that the impact of joint clearance on dynamic property of square combined mechanism should not be neglected. |
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| Keywords: | square unit and its combined mechanism clearance Floures contact force model dynamics |
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