中国空间科学技术

中国空间科学技术 ›› 2018, Vol. 38 ›› Issue (4): 51-61.doi: 10.16708/j.cnki.1000-758X.2018.0036

• 技术交流 • 上一篇    下一篇

考虑磨损后含间隙指向机构运动特性

韩雪艳1,2，李仕华1,2,*，左亚铭2，李珺2   

  1. 1. 燕山大学河北省并联机器人与机电系统实验室，秦皇岛 066004
    2. 燕山大学机械工程学院，秦皇岛 066004
  • 收稿日期:2017-12-20 修回日期:2018-01-25 接受日期:2018-05-15 出版日期:2018-08-25 发布日期:2018-05-16
  • 作者简介:韩雪艳(1978-)，男，博士研究生，hanxueyan@ysu.edu.cn,主要研究方向为空间指向机构的动力学及精度
  • 基金资助:
    国家自然科学基金（51775475）；河北省自然科学基金（E2016203463）

Motion characteristics of pointing mechanism with clearance in consideration of wear

HAN Xueyan1,2, LI Shihua1,2,*, ZUO Yaming2, LI Jun2   

  1. 1. Parallel Robotand Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China

    2. College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China

  • Received:2017-12-20 Revised:2018-01-25 Accepted:2018-05-15 Published:2018-08-25 Online:2018-05-16
  • About author:李仕华(1966-)，男，教授，shli@ysu.edu.cn，主要研究方向为并联机器人理论及应用和空间机构非线性动力学与精度等

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摘要： 为了提高空间指向机构磨损寿命的预测精度，克服传统静态磨损寿命预测的缺陷，计及间隙、摩擦磨损耦合因素，以实现机构关节动态磨损的精确预测，并对综合考虑间隙、摩擦磨损等因素的空间二维指向机构动力学问题和磨损问题进行了研究。采用牛顿欧拉法，将间隙变量嵌入动力学模型，构建含间隙二维指向机构的动力学模型。基于Archards磨损模型，找到运动副接触面不同位置处的磨损深度，重构运动副表面形貌，并对磨损前后含间隙指向机构的动态特性进行分析，得到了关节处接触碰撞力和切向摩擦力的变化规律；采用动态拟合变量法和离散处理法分别对含间隙运动副内部间隙与接触力间、运行时间与相对滑移速度间的对应关系进行拟合，并建立了动态磨损数学模型；进一步预测了二维指向机构在跟踪模式、调姿模式下的运行时间分别为1259192h、76444h。研究工作为二维指向机构的本体设计、制造与应用奠定基础。

关键词: 指向机构, 动力学, 间隙, 磨损, 寿命预测

Abstract:

For the accurate prediction of the joint dynamic wear, the coupling factors of clearance, friction and abrasion were considered. The dynamic problems and abrasion problems of the twodimensional space pointing mechanism were studied, which considered the factors of clearance, friction and abrasion. Using the Newton Euler’s law, the dynamic model of the twodimensional space pointing mechanism with clearance was constructed by embedding the clearance variables. Based on the Archards wear model, by finding the wear depth at different positions of the moving contact surface and reconstructing the surface morphology of the kinematic pair, the dynamic characteristics of the pointing mechanism with clearance were analyzed in the process of wear, and the change laws of the contact collision force and the tangent friction force at the joints were obtained; the dynamic fitting variables method and the discrete processing method were used to fit the correspondences between the clearance and contact force, and the running time and the relative slip velocity of the kinematic pair with clearance, and  the dynamic wear mathematical model was established; furthermore, the predicted service lives of the two dimensional pointing mechanism are 12591.92 hours and 764.44 hours under the tracking mode and the attitude adjustment mode. The work in this thesis provided the theoretical base for the ontology design, manufacture and application of the two dimensional pointing mechanism.

Key words: pointing mechanism, ynamics, clearance, abrasion, life prediction