Ukuhlola futhi kuhlaziye ithonya le-Hinge Gap kanye nokuguquguquka kwengxenye kwe-Perfolta1

Inkinga yokuthola imvume yendlela, okubangelwa amaphutha okukhiqiza kanye nokugqoka okujwayelekile nokudabula ngesikhathi sokusebenza, kungaholela ekushayweni okunzima kanye nemithelela phakathi kwezinto ezihlanganisiwe zezakhi ezixhunyiwe. Lokhu kukhulisa ukucindezela okunamandla, kunciphisa izinduku, kukhulisa ukungaguquki kwe-elastic, kwakha umsindo kanye nokudlidliza, futhi kunciphisa ukusebenza kahle kohlelo lwemishini. Abaphenyi abaningi baye bafunda ama-Dynamics ezinqubo ezihambisanayo nezikhala ze-hinge nokuvumelana nezimo, kepha ukuqhubeka nokuhlaziywa okujulile kusadingeka.

Isibonelo, iBauchau et al. Ihlongoze indlela ejwayelekile ye-hinge ye-hinge yokuchaza izindlela eziguqukayo zomzimba eminingi zisebenzisa ama-kinematics. Zhao et al. Uxoxe ngethonya lesilinganiso segebe le-hinge ekusebenzeni okunamandla kwamarobhothi ochungechunge. Chen jiangyi et al. Kuhlaziywe ama-Dynamics wezindlela ezihambisanayo nezikhala ze-hinge. Kakizaki et al. wafunda ama-Dynamics wezindlela zesikhala ezinezikhala ze-hinge, ecabanga ngokuguquguquka kwenduku. Yena uBaiyan et al. okuhlongozwayo futhi kwasungulwa imodeli enamandla ye-manipulator eguquguqukayo endabeni yezikhala ze-hinge. Lezi zifundo zinikezela ngemininingwane ebalulekile kuma-Dynamics wezindlela ezihambisanayo nezikhala ze-hinge nokuvumelana nezimo.

Ukubhekana nodaba lwendlela yokuthola imvume, imodeli enamandla yendlela enesisulu se-hinge. Njengoba ama-hinges anezikhala azoshayisana ngesikhathi sokunyakaza nezingxenye zensimbi zinezici ezi-elastic nezengezo, zisetshenziswa imodeli ye-Coullomm Fring Finist. Imodeli ye-Nonlinear Spring Deffing Force Force Imodeli ibala amandla okuxhumana phakathi kwe-pin ye-hinge kanye nomkhono osuselwa kumodeli yokuxhumana yeHertzia futhi ubheka ukulahleka kwamandla okubangelwa ukudonswa. Imodeli yocingo eguquliwe eguqulwa ichaza ngokunemba ekungqubuzaneni kwe-static kungqubuzana okunamandla, icubungula ukungezwani kwe-couloms, ukungqubuzana okuyi-viscous.

Lapho uhlaziya izici eziguqukayo zezindlela ezinezikhala ze-hinge, kuyadingeka ukubheka ukuguquguquka kwezinto. Kusoftware ye-Adams, izingxenye eziguquguqukayo zingakhiwa zisebenzisa izindlela ezintathu: Ukuphawula umzimba oguqukayo kumizimba eminingi eqinile, ukudala imizimba eguquguqukayo ngqo nge-Adams / Auto Flex Module, noma ukuhlanganisa isoftware ye-Ansys nge-Adams yokwakha izingxenye eziguqukayo. Indlela yesithathu ikhethiwe kulolu cwaningo ngoba kungakhombisa kangcono ukunyakaza kwangempela kwemizimba eguqukayo. I-ANSYS isetshenziselwa ukumodela ingxenye eguquguqukayo, yenza ukuhlaziywa kwemodi, futhi ikhiqize ifayela elingathathi hlangothi elifaka amapharamitha ahlukahlukene nolwazi mayelana nelungu eliguqukayo.

Ukukhombisa ukuhlaziywa, indlela engu-3-RRRT parallel isetshenziswa njengento yocwaningo. Ukuhlaziywa kwe-modal kwenziwa emaketangeni egatsha lendlela esebenzisa ama-ansys, futhi imiphumela iguqulwa ibe amalungu aguquguqukayo e-Adams. Umshini uqukethe ipulatifomu ehleliwe, amaketanga amagatsha amathathu, kanye neplatifomu ehambayo. I-chain ngayinye yegatsha yakhiwa izinduku, izinduku ezijikelezayo namabili ahambayo. Ukuguquguquka kwezinduku kubhekwa, kanti ezinye izinto ziphathwa njengemizimba eqinile. Ababili bokushayela bahlelwe njengengxenye yokushayela, futhi inqubo yenziwe ngejubane eliphansi neliphezulu.

Ukuhlaziywa kwembula ukuthi izikhala ze-hinge zinethonya elibalulekile ngejubane kanye ne-Force Phinta yezinqubo eziqinile, kuyilapho ukuguquguquka kuthinta ijubane nokusheshisa komshini. Igebe le-hinge likhudlwana, okukhudlwana kokukhulisa kwe-velocity nokusheshisa kuyashintsha. Ijubane lokushayela libuye lithinta ukusebenza okunamandla kwendlela, elinesivinini esiphakeme okuholela ezinguquko ezinkulu nasekuqineni okungaphansi. Kodwa-ke, kungakhathalekile ukuthi zinaziphi izinto ezithonya, amandla okuxhumana, velocity, kanye nokusheshisa kancane kancane afinyelela isimo esiqinile ngemuva kokushintsha okuqhubekayo.

Ekuphetheni, ama-Dynamics ezinqubo ezihambisanayo ezinezikhala ze-hinge nokuguquguquka kuwukucatshangelwa okubalulekile ekwakhiweni nasekukhiqizweni. Ukuguquguquka kwezinto ezinkulu zokuphambuka kufanele kubhekwe, futhi imvume ye-hinge ayinakwa, ikakhulukazi izindlela ezisebenza ngejubane eliphezulu. Ngokuqonda nokubhekana nalezi zinto, ukusebenza kanye nokusebenza kahle kohlelo loMeyili kungathuthukiswa kakhulu.