典型文献
Dynamics of luffing motion of a hydraulically driven shell manipulator with revolute clearance joints
文献摘要：
In this study,a modeling method for investigating the dynamic characteristics of a hydraulically driven shell manipulator with revolute clearance joints is presented.This model accounts for the effect of the clearance,the flexibility of the rotating beam,and the coupled dynamic characteristics of the hydraulic cylinder.A modified contact force model was developed to simulate the physical properties of realistic revolute joints with small clearances,heavy loads,and variable contact stiffnesses and damping co-efficients with variations of the indentations.Considering the strong coupling relationship between the hydraulic cylinder and the flexible beam,a system equation of motion combining the state variables of the hydraulic cylinder and mechanical system was established.The complex nonlinear friction force of the hydraulic cylinder motion was constructed using a modified LuGre model,and the parameters of the friction model were identified using intelligent identification algorithms.Moreover,a test system for the shell manipulator was established to achieve experimental validation.Finally,the effects of the clearance size and the stiffness of the cylinder support on the dynamic response were investigated.
文献关键词：
中图分类号：
作者姓名：
Chen Zhi-qun;Qian Lin-fang;Chen Guang-song;Nie Shou-cheng;Yin Qiang;Yue Cai-cheng
作者机构：
School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;Northwest Institute of Mechanical and Electrical Engineering,Xianyang,712099,Shaanxi,China;China North Industry Corporation,Beijing.100053,China
文献出处：
引用格式：
[1]Chen Zhi-qun;Qian Lin-fang;Chen Guang-song;Nie Shou-cheng;Yin Qiang;Yue Cai-cheng-.Dynamics of luffing motion of a hydraulically driven shell manipulator with revolute clearance joints)[J].防务技术,2022(04):689-708
A类：
luffing,clearances
B类：
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AB值：
0.493608
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