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以某型点波束卫星天线双轴驱动机构为研究对象,研究关节间隙对驱动机构动力学特性的影响规律。通过建立关节间隙动力学模型,并将间隙模型嵌入到虚拟样机中,进一步建立含间隙的双轴驱动机构虚拟样机。利用虚拟样机进行动力学仿真,分析关节间隙对双轴驱动机构动力学特性的影响。同时,利用多项式拟合的方法给出间隙大小对系统动力学特性的影响规律。结果表明,关节间隙会使运动副构件间发生接触碰撞,导致驱动机构执行末端动力学特性变化,影响运行稳定性,降低定位精度。且随着关节间隙的增大,执行末端的速度误差和加速度误差峰值都随之增大,使系统的运行稳定性变差。所得结论对双轴驱动机构定位精度的分析与控制具有重要的理论价值及工程实际意义。
Taking a type of spot beam satellite antenna biaxial drive mechanism as the research object, the influence law of the joint clearance on the dynamic characteristics of the drive mechanism was studied. By establishing the kinematic model of the joint gap and inserting the gap model into the virtual prototype, a virtual prototype of the biaxial drive mechanism with the gap is further established. The dynamic simulation was carried out by using the virtual prototype to analyze the influence of the joint clearance on the dynamic characteristics of the biaxial drive mechanism. At the same time, the influence of gap size on system dynamics is given by means of polynomial fitting. The results show that the joint space will make contact and collision between the two vice members, resulting in the change of the end effector dynamic characteristics of the driving mechanism, affecting the running stability and reducing the positioning accuracy. With the increase of joint space, the peak of velocity error and acceleration error at the execution end both increase, which makes the operation stability of the system worse. The conclusions obtained have important theoretical value and engineering practical significance for the analysis and control of the positioning accuracy of biaxial drive mechanism.