行星滚柱丝杠动态摩擦力矩和传动效率分析
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摘要
针对行星滚柱丝杠摩擦力矩和传动效率随丝杆转速变化而变化,考虑润滑油黏滞、滚柱自旋滑动和螺纹接触点差动滑动产生的摩擦阻力,基于拉格朗日方法建立了行星滚柱丝杠机构动力学模型,计算了其摩擦力矩和传动效率,分析了负载和丝杆角加速度对机构动态摩擦力矩、瞬态传动效率和综合传动效率的影响.研究结果表明:行星滚柱丝杠摩擦力矩随螺纹接触点相对滑动速度增大而增大;非稳态运行阶段润滑油黏滞和自旋滑动是产生摩擦力矩的主要因素;行星滚柱丝杠在大载荷运行时传动效率较高,丝杆加速时间越短其综合传动效率越高.
As the friction torque and transmission efficiency of planetary roller screw changed with the rotation speed of screw, the dynamic model of planetary roller screw was established based on the Lagrange method considering the frictional resistance due to the lubricating oil viscosity, the roller spin sliding and the differential sliding of the thread contact point. And the friction torque and transmission efficiency were calculated. The influences of load and angle acceleration of screw on the dynamic friction torque, transient transmission efficiency and overall transmission efficiency of the mechanism were analyzed. The results show that the friction torque of the planetary roller screw increased with the relative sliding speed of the thread contact point, and the viscous of the lubricating oil and spin sliding in the unsteady state was the main factor inducing friction torque. The overall transmission efficiency of planetary roller screw increased when it operated with large load and the short acceleration time of the screw.
As the friction torque and transmission efficiency of planetary roller screw changed with the rotation speed of screw, the dynamic model of planetary roller screw was established based on the Lagrange method considering the frictional resistance due to the lubricating oil viscosity, the roller spin sliding and the differential sliding of the thread contact point. And the friction torque and transmission efficiency were calculated. The influences of load and angle acceleration of screw on the dynamic friction torque, transient transmission efficiency and overall transmission efficiency of the mechanism were analyzed. The results show that the friction torque of the planetary roller screw increased with the relative sliding speed of the thread contact point, and the viscous of the lubricating oil and spin sliding in the unsteady state was the main factor inducing friction torque. The overall transmission efficiency of planetary roller screw increased when it operated with large load and the short acceleration time of the screw.
引文
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[12]Ma Shangjun,Liu Geng,Tong Ruiting.The frictional moment and transmission efficiency of planetary roller screw[J].Journal of Harbin Institute of Technology,2013,45(11):74-79(in Chinese)[马尚君,刘更,佟瑞庭.行星滚柱丝杠副摩擦力矩及传动效率研究[J].哈尔滨工业大学学报,2013,45(11):74-79].doi:10.11918/j.issn.0367-6234.2013.11.013.
[13]Matthew H Jones,Steven A Velinsky,Ty A Lasky.Dynamics of the planetary roller screw mechanism[J].Journal of Mechanisms and Robotics,2016,8(014503):1-6.
[14]Xiaojun Fu,Geng Liu,Ruiting Tong,et al.A nonlinear six degrees of freedom dynamic model of planetary roller screw mechanism[J].Mechanism and Machine Theory,2018,119:22-36.doi:10.1016/j.mechmachtheory.2017.08.014.
[15]Jin Qianzhong,Yang Jiajun,Sun Jianli.The research on friction mechanism of the planetary roller screw[J].Journal of Hua Zhong University of Science&Technology(in Chinese)[靳谦忠,杨家军,孙健利.行星式滚柱丝杠副的摩擦机理研究[J].华中理工大学学报,1998,26(6):82-84].
[16]Pu Jianrong.Theoretical and experimental study on contact,friction and working characteristics of planetary roller screw[D].Nanjing University of Science and Technology,2015:22-29(in Chinese)[濮建荣.行星滚柱丝杠副接触、摩擦与工作特性的理论与试验研究[D].南京理工大学,2015:22-29.].
[17]Ravindra B,Mallik A.Performance of non-linear vibration isolators under harmonic excitation[J].Journal of Sound and Vibration,1994,170(3):325-337.doi:10.1006/jsvi.1994.1066.
[18]Matthew H Jones,Steven A Velinsky.Contact kinematics in the roller screw mechanism[J].Journal of Mechanical Design,2013,135(051003):1-10.
[2]Romain Breuneval Guy Clerc,Babak Nahid-Mobarakeh,et al.Identification of a roller screw for diagnosis of flight control actuator[C].2016 IEEE International Conference on Prognostics and Health Management(ICPHM),Ottawa,,Canada,June 20-22,2016:1-8.
[3]Wissam Karam,Jean Charles Mare.Modelling and simulation of mechanical transmission in roller-screw electromechanical actuators[J].Aircraft Engineering and Aerospace,2009,81(4):288-298.doi:10.1108/00022660910967273.
[4]M Falkner,T Nitschko,L Supper,et a1.Roller screw lifetime under oscillatory motion:From dry to liquid lubrication[C].The Proceedings of Esmats,San Sebastian,2003.
[5]G Hirzinger,J Butterfass,M Fischer,et al.A mechatronics approach to the design of light-weight arms and multi-fingered hands[C].Proceedings of the 2000 IEEE International Conference on Robotics8 Automation,San Francisco,USA,April,24-28,2000:46-54.
[6]Steven A Velinsky,Baeksuk Chu,Ty A Lasky.Kinematics and efficiency analysis of the planetary roller screw mechanism[J].Journal of Mechanical Design,2009,131(011016):1-8.
[7]Yousef Hojjat,M Mahdi Agheli.A comprehensive study on capabilities and limitations of roller-screw with emphasis on slip tendency[J].Mechanism and Machine Theory,2009,44(10):1887-1899.doi:10.1016/j.mechmachtheory.2009.04.001.
[8]Matthew H Jones,Steven A Velinsky.Kinematics of roller migration in the planetary roller screw mechanism[J].Journal of Mechanical Design,2012,134(061006):1-8.
[9]Yang Jiajun,Yang Baozhe,Zhu Jisheng,et al.Effect of preload on axial deformation and friction of planetary roller screw[J].Transmission,2011,35(12):16-22(in Chinese)[杨家军,杨保哲,朱继生,等.预紧力对行星滚柱丝杠轴向变形及摩擦的影响[J].机械传动,2011,35(12):16-22].doi:10.3969/j.issn.1004-2539.2011.12.004.
[10]Fu Yongling,Gan Fajin,Qi Xiaoye,et al.Influence of load on friction moment in roller screw[J].Journal of Mechanical Transmission,2016,40(5):116-119(in Chinese)[付永领,甘发金,祁晓野,等.行星滚柱丝杠副负载对摩擦力矩的影响[J].机械传动,2016,40(5):116-119].
[11]Li Yingfeng,Yang Jiajun,Liao Wenjun,et al.Influence of lead angle and contact angle on transmission efficiency of planetary roller screw[J].Journal of Hubei University of Technology,2014,(1):87-89(in Chinese)[李迎峰,杨家军,廖雯俊,等.接触角螺旋升角对滚柱丝杠副传递效率的影响[J].湖北工业大学学报,2014,(1):87-89].doi:10.3969/j.issn.1003-4684.2014.01.022.
[12]Ma Shangjun,Liu Geng,Tong Ruiting.The frictional moment and transmission efficiency of planetary roller screw[J].Journal of Harbin Institute of Technology,2013,45(11):74-79(in Chinese)[马尚君,刘更,佟瑞庭.行星滚柱丝杠副摩擦力矩及传动效率研究[J].哈尔滨工业大学学报,2013,45(11):74-79].doi:10.11918/j.issn.0367-6234.2013.11.013.
[13]Matthew H Jones,Steven A Velinsky,Ty A Lasky.Dynamics of the planetary roller screw mechanism[J].Journal of Mechanisms and Robotics,2016,8(014503):1-6.
[14]Xiaojun Fu,Geng Liu,Ruiting Tong,et al.A nonlinear six degrees of freedom dynamic model of planetary roller screw mechanism[J].Mechanism and Machine Theory,2018,119:22-36.doi:10.1016/j.mechmachtheory.2017.08.014.
[15]Jin Qianzhong,Yang Jiajun,Sun Jianli.The research on friction mechanism of the planetary roller screw[J].Journal of Hua Zhong University of Science&Technology(in Chinese)[靳谦忠,杨家军,孙健利.行星式滚柱丝杠副的摩擦机理研究[J].华中理工大学学报,1998,26(6):82-84].
[16]Pu Jianrong.Theoretical and experimental study on contact,friction and working characteristics of planetary roller screw[D].Nanjing University of Science and Technology,2015:22-29(in Chinese)[濮建荣.行星滚柱丝杠副接触、摩擦与工作特性的理论与试验研究[D].南京理工大学,2015:22-29.].
[17]Ravindra B,Mallik A.Performance of non-linear vibration isolators under harmonic excitation[J].Journal of Sound and Vibration,1994,170(3):325-337.doi:10.1006/jsvi.1994.1066.
[18]Matthew H Jones,Steven A Velinsky.Contact kinematics in the roller screw mechanism[J].Journal of Mechanical Design,2013,135(051003):1-10.