Research on Spatial Developable Mechanism Considering Revolute Clearance Joints with Irregular Rough Surfaces

Abstract

Due to assembling, manufacturing errors, and wear, irregular rough surfaces inevitably exist in joints, which will increase the contact stiffness nonlinearity at the joint of the spatial developable mechanism, and the traditional contact force model is difficult to accurately predict the contact force change of irregular rough surface clearance. Aiming at the difficulty of accurately predicting the dynamic behavior of the spatial developable mechanism caused by rough joint clearance, an improved clearance contact force modeling method based on an uncoordinated contact model is proposed in this paper. The influence of rough peak distribution on the contact area is analyzed. The stiffness of the traditional Hertz model is modified based on the probability distribution density function of the rough peak, and an improved contact force model based on dynamic contact stiffness is established. Based on the Lagrange multiplier method, the dynamics model of spatial developable mechanism is constructed. Based on the model, the dynamic analysis of the spatial expansion mechanism is carried out, and the influence of the roughness of the contact surface and the size of the clearance on the dynamic characteristics of the system are explored; as well, the influence of different clearance parameters on the dynamic characteristics of the development mechanism is revealed. Through the analysis, this paper provides a theoretical basis for predicting the effect of a spatial revolute clearance joint on the dynamic characteristics of the mechanism and lays a good foundation for the manufacture and application of the mechanism.