谐波齿轮减速器间隙空程分析
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摘要
谐波齿轮减速器的间隙空程来源复杂,是影响机构运动精度的主要因素。根据谐波减速器的工作原理分析,引起间隙空程的主要因素是零件扭转变形(柔轮和输出轴)、柔轮刚轮齿侧间隙和柔性轴承的径向游隙;运用渐开线、材料力学和刚度等理论,建立了间隙空程与上述因素的数学模型;开展了某种谐波减速器的间隙空程测试,实测结果与理论计算值吻合。
The sources of the harmonic gear reducer gap clearance are complicated,the gap clearance is the main factor affecting the operation accuracy of the mechanism. According to the work principle of the harmonic gear reducer,the main factors causing the gap are the torsional deformation of the parts(the flexible wheel and output shaft),and the clearance between the rigid and flexible wheels,and the radial clearance of the flexible bearing. Secondly,using the theory of involute,material mechanics,stiffness and so on,the mathematical model of the gap clearance and above factors is established. Finally,a gap-free test of one kind of harmonic gear reducer is carried out,the measured results are in good agreement with the theoretical calculation.
The sources of the harmonic gear reducer gap clearance are complicated,the gap clearance is the main factor affecting the operation accuracy of the mechanism. According to the work principle of the harmonic gear reducer,the main factors causing the gap are the torsional deformation of the parts(the flexible wheel and output shaft),and the clearance between the rigid and flexible wheels,and the radial clearance of the flexible bearing. Secondly,using the theory of involute,material mechanics,stiffness and so on,the mathematical model of the gap clearance and above factors is established. Finally,a gap-free test of one kind of harmonic gear reducer is carried out,the measured results are in good agreement with the theoretical calculation.
引文
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[9]万庆祝,陆志刚.精密谐波齿轮减速器传动误差分析[J].仪表技术与传感器,2013(5):51-54.
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[14]《齿轮手册》编委会.齿轮手册(上册):第9篇[M].北京:机械工业出版社,2001:23-26.
[2]王康,张沛.采样机械臂关节月表环境适应性设计[J].航天器环境工程,2017(5):482-489.
[3]GIBBS G,SACHDEV S.Canada and the International Space Station program:overview and status[J].Acta Astronautica,2002,51(1):591-600.
[4]RICHARD F.Concurrent actuator development for the Mars exploration rover instrument deployment device[C]//10th European Space Mechanisms&Tribology Symposium.Sebastian,Spain,2003:255-262.
[5]周勇,张剑.数传跟踪天线驱动控制建模与仿真[J].中国空间科学技术,2014(6):31-37.
[6]HAN B C,MA J J,LI H T.Modeling and compensation of nonlinear friction in harmonic driver[J].Optics and Precision Engineering,2011,19(5):1096-1103
[7]李西建.大扭矩高精度大传动比传动系统精度分析和设计仿真[D].秦皇岛:燕山大学,2004:97-101.
[8]沙晓晨,范元勋.谐波减速器传动误差的研究[J].机械制造与自动化,2015(5):50-54.
[9]万庆祝,陆志刚.精密谐波齿轮减速器传动误差分析[J].仪表技术与传感器,2013(5):51-54.
[10]李俊阳,王家序,肖科,等.渐开线内啮合圆柱齿轮副的回差控制与补偿[J].重庆大学学报,2012,35(7):43-48.
[11]王俊,王家序,程美玲,等.空间谐波减速器的可靠性研究[J].机械传动,2013,37(12):1-4.
[12]孙训方.材料力学[M].4版.北京:高等教育出版社,2002:67-70
[13]辛洪兵,何惠阳,谢金瑞.谐波齿轮传动啮合刚度的研究[J].光学精密工程,1997,5(2):26-29.
[14]《齿轮手册》编委会.齿轮手册(上册):第9篇[M].北京:机械工业出版社,2001:23-26.