广义可展开单元非线性动力学分析

doi:10.3901/JME.2020.11.058

机械工程学报 ›› 2020, Vol. 56 ›› Issue (11): 58-64.doi: 10.3901/JME.2020.11.058

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广义可展开单元非线性动力学分析

董航佳, 李团结, 王作为

西安电子科技大学机电工程学院西安 710071

收稿日期:2019-07-15 修回日期:2019-12-21 出版日期:2020-06-05 发布日期:2020-06-12
通讯作者: 李团结(通信作者),男,1972年出生,博士,教授,博士研究生导师。主要研究方向大型空间可展开机构,机器人方法理论。E-mail:tjli888@126.com
作者简介:董航佳,男,1992年出生,博士研究生。主要研究方向为广义可展开机构及非线性动力学。E-mail:527844680@qq.com
基金资助:
国家自然科学基金资助项目（51775403）。

Nonlinear Dynamics Analysis of Generalized Deployment Units

DONG Hangjia, LI Tuanjie, WANG Zuowei

School of Mechano-Electronic Engineering, Xidian University, Xi'an 710071

Received:2019-07-15 Revised:2019-12-21 Online:2020-06-05 Published:2020-06-12

摘要/Abstract

摘要： 首先设计了一种包含柔性铰链、驱动扭簧等非传统构件的广义可展开单元，考虑间隙、摩擦、碰撞阻尼以及柔性铰链非线性，建立了间隙和柔性构件非线性耦合的广义可展开单元非线性动力学模型。通过对其展开过程的角位移、角速度、碰撞频率、碰撞力等动力学特性进行数值分析，得到了铰链间隙和扭簧刚度对展开过程平稳性的影响规律。结果表明：间隙对运动平稳性影响较大，使机构的运动呈现非线性现象，主要体现在从动杆角速度以及碰撞力幅值方面。扭簧的刚度与其初始力矩的匹配是广义可展开单元平稳展开的重要因素，通过合理设计扭簧的刚度可以有效抑制机构展开过程中的非线性现象。

关键词: 广义可展开单元, 铰链间隙, 非线性, 柔性铰链, 动力学

Abstract: A generalized deployment unit containing flexible hinges, torsional springs and other non-traditional components is designed. With considering the clearance, friction, collision damping and flexible hinge nonlinearity, a nonlinear dynamic model of generalized deployment unit including nonlinear coupling of clearance and flexible member is established. Through the analysis of the angular displacement, angular velocity, collision frequency and collision force of the deployment process, the influence of the hinge clearance and the stiffness of torsional spring on the stability of the deployment process is obtained. The results show that the clearance has a great influence on the motion stability, which makes the motion of the mechanism appear nonlinear. The nonlinear is mainly reflected in the angular velocity of the driven rod and the amplitude of the collision force. The matching of the stiffness of the torsion spring with its initial moment is an important factor for the smooth development of the generalized deployment unit. The nonlinear phenomenon is suppressed effectively with designing the he stiffness of torsional spring reasonably.

Key words: generalized deployment unit, hinge clearance, nonlinear, flexible hinge, dynamics

中图分类号:

TH113

董航佳, 李团结, 王作为. 广义可展开单元非线性动力学分析[J]. 机械工程学报, 2020, 56(11): 58-64.

DONG Hangjia, LI Tuanjie, WANG Zuowei. Nonlinear Dynamics Analysis of Generalized Deployment Units[J]. Journal of Mechanical Engineering, 2020, 56(11): 58-64.

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广义可展开单元非线性动力学分析

Nonlinear Dynamics Analysis of Generalized Deployment Units

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