陈国强, 楚子鑫, 康件丽,等.考虑转动副与球面副混合间隙的并联机构动力学分析[J].河南理工大学学报（自然科学版）,2026,45(1):110-117.

CHEN G Q, CHU Z X, KANG J L, et al.Dynamic analysis of parallel mechanism with mixed clearance of rotating pairs and spherical pairs[J].Journal of Henan Polytechnic University(Natural Science) ,2026,45(1):110-117.

考虑转动副与球面副混合间隙的并联机构动力学分析

陈国强, 楚子鑫, 康件丽, 张登攀, 李田

河南理工大学 机械与动力工程学院，河南 焦作 454000

摘要: 目的 为了研究多种间隙对并联机构动态特性的影响，以3-PRS并联机构为研究对象，建立含转动副和球面副混合间隙的动力学模型，进行动力学分析。 方法 首先，对3-PRS并联机构的位置、速度和加速度进行运动学分析，建立基于“接触-分离”二状态模型的含间隙转动副运动学模型和含间隙球面副运动学模型；其次，采用Flores接触模型和修正的库仑摩擦模型，建立接触力模型；然后，利用牛顿-欧拉法建立含混合间隙的3-PRS并联机构的动力学模型；最后，通过仿真实验对比分析混合间隙、不同间隙值、不同驱动对并联机构动态特性的影响。 结果 结果表明，机构含有混合间隙时与不含间隙的理想状态的运动轨迹整体趋于一致，但是混合间隙使机构在运动时偏离理想位置，速度产生波动，加速度产生较为频繁的突变。对比不同间隙值，当间隙增大时，机构达到稳定运行时间越晚，位置偏移量增大，速度波动更大，机构运行更不稳定。对比不同驱动，当驱动幅值减小时，机构达到稳定运行时间更早，位置、速度曲线更为平滑，机构运行更稳定。 结论 研究结果表明，混合间隙对并联机构的速度、加速度等动态特性影响较为严重。该研究可为分析3-PRS并联机构的实际运动情况以及间隙误差控制等提供方法和理论基础。

关键词:并联机构;间隙;接触力;动力学;动态特性

doi:10.16186/j.cnki.1673-9787.2021100059

基金项目:国家自然科学基金资助项目（U1304525）；河南省科技攻关项目（212102210045）；河南省高校基本科研业务费资助项目（NSFRF200401）

收稿日期:2021/10/25

修回日期:2022/03/09

出版日期:2025-12-03

Dynamic analysis of parallel mechanism with mixed clearance of rotating pairs and spherical pairs

Chen Guoqiang, Chu Zixin, Kang Jianli, Zhang Dengpan, Li Tian

School of Mechanical and Power Engineering， Henan Polytechnic University， Jiaozuo 454000， Henan， China

Abstract: Objectives In order to study the effect of various clearances on the dynamic characteristics of parallel mechanisms， the dynamic model of the 3-PRS parallel mechanism with mixing clearances of rotating pairs and spherical pairs was established and the dynamic analysis was carried out in this paper. Methods Firstly， kinematic analysis was conducted on the position， velocity and acceleration of the 3-PRS parallel mechanism； the kinematic models of the clearance rotating pair and the clearance spherical pair based on the “contact-separation” two-state model were established. Secondly， the Flores contact model and the modified Coulomb friction model were used to establish the contact force model. Then， the Newton-Euler method was used to establish the dynamic model of the 3-PRS parallel mechanism with mixed clearance. Finally， through simulation experiments， the influences of mixed clearance， different clearance values， and different drives on the dynamic characteristics of the parallel mechanism were compared and analyzed. Results The results showed that the motion trajectories of the mechanism with mixed clearance and the mechanism without clearance in the ideal state tended to be consistent as a whole. However， the mixed clearance causesed the mechanism to deviate from the ideal position during motion， resulting in fluctuations in velocity and more frequent sudden changes in acceleration. By comparing different clearance values， when the clearance increased， the later the mechanism reached stable operation time， the greater the position offset， the greater the speed fluctuated， and the more unstable the mechanism operated.By comparing different drives， when the drive amplitude decreased， the mechanism reached stable operation earlier， the position and speed curves were smoother， and the mechanism was more stable. Conclusions The research results showed that the mixed clearance had a serious impact on the moving speed， acceleration and other dynamic characteristics of the parallel mechanism. This research could provide a method and theoretical basis for analyzing the actual movement of the 3-PRS parallel mechanism and the control of clearance errors.

Key words:parallel mechanism;clearance;contact force;dynamics;dynamic characteristic