摘要
章动传动的实质为陀螺运动,即刚体绕定点转动。通过以图解的形式描述章动传动的三个欧拉角及用其描述的刚体绕定点转动运动学方程的建立过程,推导出章动轮角速度在定坐标系及动坐标系上的投影表达式。再结合空间共轭曲线锥齿轮啮合原理知识,构建传动坐标系统,利用齐次坐标变换及齿轮运动学原理,推导出两锥齿轮的相对运动速度。分析表明,此理论推导的计算方法在一定程度上将抽象、繁难、复杂的运动学问题得到简化分步,转变为立体直观的空间描述,推导过程简单清晰,并且数式转换准确易见。
The essence of the nutation drive is the gyro's motion, that is, the rigid body with a fixed point. The three Euler angles of the nutation drive are described in the graphical form and described in the process of the establishment of the kinematics equation of the rigid body around the fixed point rotation. The projection expression of angular velocity of the nutation gear is deduced in the fixed coordinate system and of the dynamic coordinate system. Combined with the spatial conjugate curve bevel gear meshing theory knowledge, the system of transmission coordinates is constructed, and the relative motion velocity of two bevel gears is deduced by using homogeneous coordinate transformation and the principle of gear kinematics. The analysis shows that, to a certain extent,abstract, complicated and complex kinematics problems are simplified and calculated step by step with the calculation method. The analysis process is transformed into a three-dimensional intuitive space description, the derivation process is simple and clear, and the numerical conversion is accurate and easy to see.
引文
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