考虑不确定参数的含润滑间隙柔性机构动力学分析

doi:10.16182/j.issn1004731x.joss.25-1114

摘要/Abstract

摘要：

以适用于混合驱动压力机的七连杆机构为研究对象，开展了同时考虑润滑间隙、区间参数与杆件柔性的动力学分析。基于第一类Lagrange方程建立了确定参数下含润滑间隙柔性机构的动力学方程；引入区间变量建立考虑区间参数的动力学模型，并采用Chebyshev区间算法与 $R u n g e - K u t t a$ 法求解间隙值、动力粘度、截面面积等区间参数的响应区间曲线。结果表明：与确定参数结果相比，各区间参数对滑块位移和速度的影响均较小，而截面面积不确定性导致滑块加速度、转动副A处间隙作用力的峰值区间宽度分别达1.49 m/s²和6.06 N，对机构运动冲击的影响最为显著。该研究成果为准确预测多连杆机构动态特性和优化设计等方面提供了理论支撑。

关键词: 区间参数, 润滑间隙, 柔性杆件, 动力学, 多连杆机构

Abstract:

This paper conducted a dynamic analysis on a seven-link mechanism suitable for a hybrid-driven press, simultaneously considering lubrication clearances, interval parameters, and link flexibility. Based on the Lagrange equations of the first kind, the dynamic equationsof the flexible mechanism with lubrication clearances under deterministic parameters were established; interval variables were introduced to establish a dynamic model considering interval parameters, and the Chebyshev interval algorithm and the $R u n g e - K u t t a$ method were used to solve the response interval curves of interval parameters such as clearances value, dynamic viscosity, and cross-sectional area. The results show that compared with the results under deterministic parameters, each interval parameter has a minor effect on the displacement and velocity of the slider, while the uncertainty of the cross-sectional area causes the peak interval widths of the slider acceleration and the clearances acting force at revolute joint A to reach 1.49 m/s² and 6.06 N, respectively, which has the most significant impact on the motion shock of the mechanism. The research results provide theoretical support for accurately predicting the dynamic characteristics and optimizing the design of multi-link mechanisms.

Key words: interval parameter, lubrication clearances, flexible link, dynamics, multi-link mechanism

中图分类号:

TP391.9

陈修龙,孙毅,王爱郭 . 考虑不确定参数的含润滑间隙柔性机构动力学分析[J]. 系统仿真学报, 2026, 38(6): 1567-1582.

Chen Xiulong,Sun Yi,Wang Aiguo . Dynamic Analysis of Flexible Mechanism with Lubrication Clearances Considering Uncertain Parameters[J]. Journal of System Simulation, 2026, 38(6): 1567-1582.

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构件	长度/m	质心距离/m	质量/kg	转动惯量/(kg·m²)
曲柄1	0.080	0.040	0.107	1.179×10^-4
连杆2	0.180	0.090	0.219	7.736×10^-4
连杆3	0.318	0.159	0.374	3.595×10^-3
曲柄4	0.080	0.040	0.107	1.179×10^-4
机架5	0.301	—	—	—
连杆6	0.300	0.150	0.354	3.056×10^-3
滑块7	—	—	0.139	6.083×10^-5