机器人腕关节锥齿轮动力学分析
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摘要
六自由度工业机器人手腕锥齿轮由于齿轮碰撞力波动幅度较大,且齿轮处于旋转运动状态,可能导致接触区域应力值很难利用测量手段获得。因此,利用Pro/E参数化建模工具构建六自由度工业机器人手腕锥齿轮传动模型,将锥齿轮模型导入ANSYS中,根据机器人工作状态,对啮合后齿轮施加动态载荷进行瞬态动力学分析,然后再利用Matlab绘制出应力变化曲线,得到机器人手腕大齿应力变化规律,从而验证该工业机器人手腕大齿结构设计合理性,旨在对其他机械传动机构结构设计起到一定指导作用。
The six-degree-of-freedom industrial robot wrist bevel gear has a large fluctuation range of the gear collision force,and the gear is in a rotating motion state, which may cause the contact region stress value to be obtained by measurement means.Therefore, the Pro/E parametric modeling tool is used to construct the six-degree-of-freedom industrial robot wrist bevel gear transmission model, and the bevel gear model is introduced into ANSYS. According to the working state of the robot, the dynamic load is applied to the gear after meshing for transient dynamic analysis. Then the Matlab is used to draw the stress variation curve, and the change law of the large tooth stress of the robot wrist is obtained, which verifies the rationality of the design of the large tooth structure of the industrial robot wrist, and aims to guide the structural design of other mechanical transmission mechanisms.
The six-degree-of-freedom industrial robot wrist bevel gear has a large fluctuation range of the gear collision force,and the gear is in a rotating motion state, which may cause the contact region stress value to be obtained by measurement means.Therefore, the Pro/E parametric modeling tool is used to construct the six-degree-of-freedom industrial robot wrist bevel gear transmission model, and the bevel gear model is introduced into ANSYS. According to the working state of the robot, the dynamic load is applied to the gear after meshing for transient dynamic analysis. Then the Matlab is used to draw the stress variation curve, and the change law of the large tooth stress of the robot wrist is obtained, which verifies the rationality of the design of the large tooth structure of the industrial robot wrist, and aims to guide the structural design of other mechanical transmission mechanisms.
引文
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[14]龙慧,张光辉,罗文军.旋转齿轮瞬时接触应力和温度的分析模拟[J].机械工程学报,2004,(8):24-29.
[2]王凯,姚进,邓星桥,等.无侧隙端面啮合蜗杆副瞬态动力学分析[J].工程科学与技术,2017,(1):86-94.
[3]项昌乐,何韡,刘辉,等.履带车辆传动系统换挡工况瞬态动力学分析[J].农业机械学报,2016,(4):288-293.
[4]苟向锋,祁常君,陈代林.考虑齿面接触温度的齿轮系统非线性动力学建模及分析[J].机械工程学报,2015,(11):71-77.
[5]焦万铭,杨珏,马飞,等.变速器行星齿轮机构等强度优化设计[J].农业机械学报,2015,(1):359-364.
[6]张卫国,权龙,程珩,等.基于真实载荷的挖掘机工作装置瞬态动力学分析[J].机械工程学报,2011,(12):144-149.
[7]张帅,周靖阳,王彦斯,等.基于UG和ANSYS的直齿圆柱齿轮参数化建模及有限元分析[J].制造业自动化,2012,(5):107-108.
[8]唐进元,刘艳平.直齿面齿轮加载啮合有限元仿真分析[J].机械工程学报,2012,(5):124-131.
[9]杨生华.齿轮接触有限元分析[J].计算力学学报,2003,(2):189-194.
[10]屈文涛,沈允文,徐建宁.基于ANSYS的双圆弧齿轮接触应力有限元分析[J].农业机械学报,2006,(10):139-141.
[11]黄志新,刘成柱.ANSYS Workbench 14.0超级学习手册[M].北京:人民邮电出版社,2013.
[12]MT Khabou,N Bouchaala,F Chaari,et al.Study of a spur gear dynamic behavior in transient regime.Mechanical Systems&Signal Processing[J].2011,(8):3089-3101.
[13]CB Tsay,ZH Fong.Tooth Contact Analysis for Helical Gears with Pinion Circular Arc Teeth and Gear Involute Shaped Teeth.Journal of Mechanical Design[J].1989,(2):278.
[14]龙慧,张光辉,罗文军.旋转齿轮瞬时接触应力和温度的分析模拟[J].机械工程学报,2004,(8):24-29.