空间机构间隙转动副模型的建立

在所建立的模型中间隙转动副的模型有１１种接触模式。根据轴销和轴套的约束关系，给出了间隙转动副所有可能存在的模式，并运用力学分析的方法得出了模型每种模式的存在条件。模型模式根据轴销所受力大小的不同而不同，同时给出了判定方法。得出轴向间隙和径向间隙的相对大小不同，模型不同，还给出了判定条件。对每钟接触模式的持续性问题进行了讨论，得出一些接触模式在一般受力情况下能够长期保持，一些接触模式是瞬时存在的，本研究结果为间隙转动副的动力学研究提供了基础。

Modeling of revolute joint with clearances in spatial mechanism

The model contains 11 kinds of contact modes. All existing modes are described based on the constraint connection of the pin and socket and the existing conditions of each mode are determined by using the mechanical method. These modes will be changed along with the variation of forces applied between the pin and socket and the methods determining the modes are presented. It is obtained that the model is different when the relative magnitude of radial and axial clearances of the pin and socket is different and the determination conditions of the model are raised. The possibility of continuous existence of each contact mode is discussed. It is obtained that which contact modes can be maintained for a long time and which contact modes can not do. Those results provide the basis for studying the dynamic problems of the revolute joint with cleararices.