考虑关节间隙的空间机械臂臂杆振动特性研究.pdfVIP

2018 3 Mar.2018 46 5 MACHINE TOOL ＆ HYDRAULICS Vol.46 No.5 ： 10.3969／j.issn.1001－3881.2018.05.001 ， ， ， ， ， （， 100048） ： ADAMS ， ， ， ； ， ， 。 ： ， ； ， 。 。 ： ； ； ； ADAMS ： TH113 ： A ： 1001－3881 （2018） 05－001－5 GU Yongxia， FENG Bin，JIANG Cuiying ， LI Qiuyu， WU Yaojun， DENG Kun （School of Material and Mechanical Engineering，Beijing Technology and Business University，Beijing 100048，China） ： Based on the ADAMS dynamic simulation software， the dynamics simulation model of the space manipulator with the joint clearance is established.The parameters of the joint clearance size and the stiffness coefficient were changed to obtain the dynamic response of the space manipulator with the different joint clearance size.Further， by setting up the space manipulator experiment plat－ form with joint clearance， changing the joint clearance by changing the aperture of the arm cap， the output vibration characteristics of the space manipulator arm under different joint clearance sizes were analyzed.Experimental and simulation results show that the accel－ eration at the tip of the arm and the contact impact force of the joint increase gradually with the increasing of the joint clearance of the space manipulator， but the amplitude decreases gradually.Space manipulator arm joint clearance increased can also lead to increase joint collisions intensified inside， and cause greater energy loss.This can provide reference for improving the control accuracy of the space manipulator with clearance. ： Space manipulator；Joint with clearance； Vibration characteristics； ADAMS simulation ， ， ［10－12］ 。 ， ， 、 ， ， 、 ， ， ， ［13