ADAMS转动副摩擦参数设置

1、GrantHillsStudio鹏哥制作（转载）仅供学习交流，非商业用途！RevoluteJointFriction设置一、RevoluteJointModelJointreactions(FaandFr),bendingmoment(Tr),andtorquepreload(Tprfrc)determinethefrictionaltorqueinarevolutejoint.YoucanturnoffoneormoreoftheseforceeffectsusingswitchesSW1throughSW3.Thejointreactions(FaandFr)(注：图3中FR21和Ff21

2、)areconvertedintoequivalenttorquesusingtherespectivefrictionarm(Rn)(注：图3中p)andpinradius(Rp(注：图3中r).Thejointbendingmoment(Tr)isconvertedintoanequivalenttorqueusingpinradius(Rp)dividedbybendingreactionarm(Rb).Thefrictionaltorque(Tfrict)isappliedalongtheaxisofrotationinthedirectionthattheFRDblockcomput

3、es.图1RevoluteJointModelFaJAESRnSW2SW3图3轴颈摩擦力的确定b-SW1Jointvie1cicityBPFR-1J.J也琐CreepTfRp0.MuDynamicDefinethecoefficientofdynamicfriction.ThemagnitudeofthefrictionalforceistheproductofMuDynamicandthemagnitudeofthenormalforceinthejoint,forexample:Frictionforcemagnitude,F=pNwherep=MuDynamicandN=normalfo

4、rceThedynamicfrictionalforceactsintheoppositedirectionofthevelocityofthejoint.Therangeis0.FrictionArmDefinetheeffectivemomentarmusedtocomputetheaxialcomponentofthefrictiontorque.Thedefaultis1.0,andtherangeis0.BendingReactionArmDefinetheeffectivemomentarmusetocomputethecontributionofthebendingmomento

5、nthenetfrictiontorqueintherevolutejoint.Thedefaultis1.0,andtherangeis0.PinRadiusDefinestheradiusofthepin.Thedefaultis1.0,andtherangeis0.StictionTransitionVelocityDefinetheabsolutevelocitythresholdforthetransitionfromdynamicfrictiontostaticfriction.Iftheabsoluterelativevelocityofthejointmarkerisbelow

6、thevalue,thenstaticfrictionorstictionactstomakethejointstick.Thedefaultis0.1lengthunits/unittimeonthesurfaceofcontactinthejoint,andtherangeis0.MaxStictionDeformationDefinethemaximumdisplacementthatcanoccurinajointoncethefrictionalforceinthejointentersthestictionregime.TheslightdeformationallowsAdams

7、/SolvertoeasilyimposetheCoulombconditionsforstictionorstaticfriction,forexample:Frictionforcemagnitude0.FrictionTorquePreloadDefinethepreloadfrictiontorqueinthejoint,whichisusuallycausedbymechanicalinterferenceintheassemblyofthejoint.Thedefaultis0.0,andtheRangeis0.EffectDefinethefrictionaleffectsinc

8、ludedinthefrictionmodel,eitherStictionandSliding,Stiction,orSliding.Stictionisstatic-frictioneffect,whileSlidingisdynamic-frictioneffect.Excludingstictioninsimulationsthatdontrequireitcangreatlyimprovesimulationspeed.ThedefaultisStictionandSliding.InputForcestoFrictionDefinetheinputforcestothefricti

9、onmodel.Bydefault,alluser-definedpreloadsandjoint-reactionforceandmomentsareincluded.Youcancustomizethefriction-forcemodelbylimitingtheinputforcesyouspecify.Theinputsforatranslationaljointare:PreloadReactionForceBendingMomentFrictionSpecifywhetherornotthefrictionalforcesaretobeInactivecalculatedduri

10、ngaStaticequilibriumorQuasi-staticsimulation.DuringThejointvelocitydeterminestheinstantaneousfrictionregimeforajoint.ThefollowingisablockdiagramofthefrictionregimesavailableinADAMS/Solver.MAGuwrrUN3TVDCiraVDCiraJointFelociiyMAGUNITVKTOEWiThfiskoiLi禅locity劭StaticFiictioii*EE-1t*门p,=|_l(i-g)|1A+$|_LS即

11、图4BlockDiagramofFrictionRegimes三、ADAMS模型分析模型是一个简单的圆柱体，与地面间添加转动副，并添加摩擦。本文采用柔性加载，只考虑稳态时的情况（时间足够长时），具体的模型参数大家下载模型（）查看，这里就不再一一论述。孑apin血.j.q暮申野血1-d舖Eqye5wnS*lh出峥lewldteJalM_FilticrJOINTHuE-Mb:|H5静摩琮系扛|4llynamc|D45Fl阳wk两1!鈕M.4由|卄Q幣；議工空SSicisnliElianMakcL段:包:昭孤变逹夏H评台轴匚吐昨划込|值e堆艾触If藩士疫空hEtdiIxqijHrSwd|oo饭叩!军

12、澤力比bftoslIWtdKWMUEkbl*J.SdintH匚anwrJEImiINbIif:HrA加rMekislMEiflGFEre厂wjrgNflrtrridHriIracib-aDunj厂SicFiJUi尿m图5ADAMS模型（施加0.12N.m扭矩）決匸加皿幻fru!跆。皿F-阳h玄frj(LrtS_Ji：irfts_Fifk.ionYe5-iXCOjwIlia1-JF-”-刘5ij图6ADAMS模型（施加0.121N.m扭矩）当模型确定后，如果驱动力矩小于产生的摩擦阻力矩，那么系统仍保持静止，如果大于则圆柱体加速转动。通过Mf=Ff21*r=fv*G*r进行计算，通过p=fv*r，由于转动副半径和摩擦圆半径已知，可计算出fv,则整个系统匀速运动的驱动力矩为0.12N.m附近,因此本文中加载了0.12N.m和0.121N.m两种情况。通过对比发现当驱动力矩大于摩擦阻力矩时，圆柱体逐渐加速；驱动力矩小于摩擦阻力矩时，圆柱体保持静止（稳态）。注意对比图中曲线。-GirmtIZIJJ注意空瞇加变化;KiismDlIe(M150.010tdog.弓1訂si芒讲汕产肥D.图7ADAMS模型（圆柱体具有初始速度）对比两中