Study On Contact Dynamics Of Mechanism With Clearance

The contact phenomenon in flexible multi-body system is common in engineering, which always make great effects to system design and analysis. As the position precision increasing and the complex operation environment to the modern high-tech structure, the nonlinearity dynamic character resulting from contact is an important task to solve in flexible multi-body system. It studies the contact dynamics of flexible multi-body system in detail, and the contents are as following:First, the contact dynamic model was established using equivalent spring damp model. The contact condition was analyzed and the normal contact model and tangential contact model were established in detail when two flexible body contact. Then the contact model was associated with the equation of flexible multi-body system. So the flexible multi-body system dynamics model was established including contact model, which applied to common contact multi-body system.The dynamic simulation of contact process of a flexible beam in gravitational field was made to proof the validity and correctness of the model. The dynamic response and the rule of the contact force were discussed in detail, which included the angular displacement and angular velocity, the time course of contact force and the rule of terminal displacement and velocity. Finally the differences between flexible and rigid beam were compared and discussed in detail.And then the mechanism dynamics model with clearance was established. How to embed the clearance model to the dynamics model is the key of the mechanism dynamics modeling with clearance. So the embedding of the clearance to the model was described and the math model of clearance joint was established. Based of that, the clearance contact model and friction model were established. Then the clearance contact model was associated with the equation of flexible multi-body system. So the flexible multi-body system dynamics model with clearance contact was established. The mechanism dynamics model with clearance using equivalent spring damp model can analysis the dynamic character of contact process.Finally, the process of the deployment of a solar panel with clearance on a small satellite was simulated using the mechanism dynamics model with clearance. And the contact force in clearance was studied and the effect of clearance to satellite attitude motion and the deployment of a solar panel were studied.