Inspired by transportation using rolling logs,a compound-pendulum-hump interaction mechanism was designed.Through constructing an array of pendulum wheels and humps on the two surfaces,respec-tively,smooth relative sliding between the surfaces can be achieved.To investigate the relationship between the normal force and the tangential force in the sliding,the dynamical differential equations of the wheel-hump mechanism were established.An iterative algorithm was proposed based on Runge-Kutta method to solve the equations to calculate the sliding resistance induced by the collision between the pendulum wheels and the humps.The simulation results indicated that the energy loss in the sliding could be reduced by setting proper geometrical parameters of the proposed mechanism,so that the ratio of the normal load to the equivalent transversal resistance could be improved significantly.Based on the theoretical analysis,a prototype was fabricated for experimental verification.The results showed that smooth sliding could be a-chieved.Meanwhile,the tangential driving force could be less than one percent of the normal load,verifying the feasibility of the mechanism.
关键词
刚体碰撞/动力学仿真/轮-阜结构/Runge-Kutta方法/摩擦副
Key words
rigid body collision/dynamics simulation/wheel-hump mechanism/Runge-Kutta method/fric-tion pair
维普
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