含角接触球轴承和粗糙间隙表面滑动轴承关节的平面柔性多连杆机构动态误差分析与优化设计

doi:10.3901/JME.2022.01.069

机械工程学报 ›› 2022, Vol. 58 ›› Issue (1): 69-87.doi: 10.3901/JME.2022.01.069

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含角接触球轴承和粗糙间隙表面滑动轴承关节的平面柔性多连杆机构动态误差分析与优化设计

章永年¹, 陶亚满¹, 蒋书运², 朱松青³, 郑恩来¹, 史金飞³

1. 南京农业大学工学院南京 210031;
2. 东南大学机械工程学院南京 211189;
3. 南京工程学院机械工程学院南京 211167

收稿日期:2021-04-01 修回日期:2021-09-15 出版日期:2022-01-05 发布日期:2022-03-19
通讯作者: 郑恩来(通信作者),男,1986年出生,博士,教授,博士研究生导师。主要研究方向为复杂机电系统动力学与智能控制。E-mail:enlaizheng@njau.edu.cn
作者简介:章永年,男,1984年出生,博士,副教授,硕士研究生导师。主要研究方向为机构与机器人学。E-mail:hczyn@njau.edu.cn
基金资助:
国家自然科学基金（52075269）和中央高校基本科研业务费重大专项（KYXK2021001，KYTZ201603）资助项目。

Dynamic Error Analysis and Optimization Design of Planar Flexible Multi-link Mechanism with Angular Contact Ball Bearing and Revolute Clearance Sliding Bearing Joints with Rough Surfaces

ZHANG Yongnian¹, TAO Yaman¹, JIANG Shuyun², ZHU Songqing³, ZHENG Enlai¹, SHI Jinfei³

1. College of Engineering, Nanjing Agricultural University, Nanjing 210031;
2. School of Mechanical Engineering, Southeast University, Nanjing 211189;
3. School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167

Received:2021-04-01 Revised:2021-09-15 Online:2022-01-05 Published:2022-03-19

摘要/Abstract

摘要： 传统旋转间隙关节接触模型假定衬套和销轴的接触面是光滑的并仅考虑接触区域的初始接触点的影响，常忽略接触区域中其它接触点的作用，不可避免导致模型分析精度下降。为此，提出一种含角接触球轴承和粗糙间隙表面滑动轴承关节的平面柔性多连杆机构动力学建模、分析与优化的计算方法。考虑粗糙旋转间隙关节多点接触状态，建立了一个新颖粗糙间隙接触模型，运用一种无剪切锁定变形梁单元对柔性连杆进行离散化。同时，基于赫兹理论，推导了角接触球轴承的动态径向等效刚度。与基于传统光滑间隙模型的结果相比，基于所提出的粗糙间隙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，粗糙的关节接触面能够降低滑块速度和加速度偏差，却增加滑块的位移偏差。冲压工况下含角接触球轴承和粗糙间隙表面滑动轴承关节的平面柔性多连杆机构的动态响应偏差大于空载工况下的结果，冲压载荷易增加滑块的动态响应偏差。此外，基于NSGA-II算法对平面柔性多连杆机构中滑动轴承关节间隙进行优化设计并得到优化的间隙尺寸值。

关键词: 多连杆机构, 间隙, 角接触球轴承, 柔性, 多体动力学, 粗糙表面

Abstract: Traditional contact models of revolute clearance joints assume the contact surfaces of bushing and pin to be smooth and only consider the influence of the initial contact point in the contact area, while always neglecting the effect of other contact points between two rough contact surfaces, which inevitably leads to lower analysis precision. A new computational methodology for the dynamic modelling, analysis and optimization of a planar flexible multilink mechanism including multiple revolute clearance sliding bearings with rough surfaces and angular contact ball bearings (ACBBs) is proposed. To solve this problem, a novel contact model considering the effect of the multi-point contact state of the revolute clearance sliding bearing joint with rough contact surfaces is presented and the locking-free shear deformable beam model is used to discretize the flexible linkage. Based on Hertzian theory, the dynamic equivalent radial stiffness of the ACBB is derived. Compared to the dynamic responses from traditional contact models of revolute clearance joint with smooth surfaces, the simulated responses from the proposed model of revolute clearance joint with rough surfaces agree better with experimental results and the effectiveness of the proposed dynamic model is verified. The simulation results suggest that revolute clearance joints with rough surfaces reduce the deviation errors of slider's velocity and acceleration, while increase the deviation error of slider's displacement. The deviation errors of dynamic responses for planar flexible multilink mechanism including two revolute clearance sliding bearings with rough surfaces and ACBBs under stamping condition are larger than those under no-load condition and the stamping load is prone to increase the deviation errors of slider's displacement, velocity and acceleration. Moreover, optimization is implemented to obtain the optimum clearance size values of the revolute joints through a nondominated sorting genetic algorithm (NSGA-II).

Key words: multilink mechanism, clearance, angular contact ball bearing, flexibility, multibody dynamics, rough surfaces

中图分类号:

TH113

章永年, 陶亚满, 蒋书运, 朱松青, 郑恩来, 史金飞. 含角接触球轴承和粗糙间隙表面滑动轴承关节的平面柔性多连杆机构动态误差分析与优化设计[J]. 机械工程学报, 2022, 58(1): 69-87.

ZHANG Yongnian, TAO Yaman, JIANG Shuyun, ZHU Songqing, ZHENG Enlai, SHI Jinfei. Dynamic Error Analysis and Optimization Design of Planar Flexible Multi-link Mechanism with Angular Contact Ball Bearing and Revolute Clearance Sliding Bearing Joints with Rough Surfaces[J]. Journal of Mechanical Engineering, 2022, 58(1): 69-87.

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含角接触球轴承和粗糙间隙表面滑动轴承关节的平面柔性多连杆机构动态误差分析与优化设计

Dynamic Error Analysis and Optimization Design of Planar Flexible Multi-link Mechanism with Angular Contact Ball Bearing and Revolute Clearance Sliding Bearing Joints with Rough Surfaces

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