不同重力环境下间隙铰链关节磨损分析

为研究不同重力环境对空间机构间隙铰链关节磨损的影响，将机械系统摩擦学行为和动力学行为相耦合，建立了磨损与动力学耦合分析模型和数值计算框架。首先采用非线性弹簧阻尼模型作为间隙处接触碰撞力的计算模型，同时采用Coulomb 法来计算运动副间隙处的摩擦力，进而建立了含间隙的机构动力学模型；然后通过基于Archard磨损模型二次开发的ANSYS程序来计算磨损，其中运用节点位移的方法来描述磨损过程。结果表明：当间隙关节转速较低时，重力对于关节轴承的磨损分布和磨损程度的影响很大，轴承出现集中磨损现象，磨损间隙急剧增加，严重影响机构的性能和精度；随着关节转速升高，重力对间隙关节磨损的影响逐渐减弱，轴承的磨损分布、磨损程度和关节最大磨损间隙的增长率将逐渐与微重力环境下趋同。

Wear Analysis of Revolute Joints with Clearance under Different Gravity Environments

In order to study the effect of different gravity environments on the wear of a clearance joint, an analysis model and a numerical calculation framework of the wear coupling with mechanical dynamics are established from the perspective of the coupling of the tribological behavior and the dynamic behavior of the mechanical system. The contact force model in the joint clearance is established by adopting the nonlinear equivalent spring-damp model. At the same time the friction force of the motion pair is calculated by adopting the Coulomb method, and then the dynamic model of the space manipulator with clearance is established. The wear is calculated by the ANSYS general program developed based on the Archard model, where the method of the node displacement is used to describe the wear process. The results show that when the speed is low, the gravity has a great influence on the wear distribution and wear depth, and the wear clearance increases sharply, which will seriously affect the performance and precision of the mechanism. With the increase of the joint speed, the influence of the gravity on the wear of the bearing is gradually weakened, and the wear distribution, the wear depth and the growth rate of the maximum wear depth of the joint will gradually converge with that in the microgravity environment.