空间机械臂关节复合行星传动系统动力学研究

发布时间：2018-03-28 00:27

本文选题：复合行星齿轮传动系统　切入点：时变啮合刚度　出处：《哈尔滨工业大学》2017年硕士论文

【摘要】：随着航空航天技术的发展,要求提高空间机械臂的平稳性、安全性,这就对空间机械臂关节系统提出了更高要求。行星齿轮传动系统,作为现代广泛使用的传动系统之一,以其承载能力大、可靠性高、结构紧凑、传动比大、寿命长等显著优点,应用于多种长寿命周期的大型空间机械臂关节设备中。因此,本文以复合行星齿轮传动系统作为研究对象,研究其动力学特性,为设计具有优良动力学性能的机械臂关节提供指导。进行传动系统动力学分析,需要考虑啮合刚度、阻尼等非线性因素,建立系统动力学模型。本文对齿轮时变啮合刚度进行研究,基于齿条刀具范成法加工齿轮原理,推导精确齿廓曲线。采用APDL语言,建立具有精确齿廓的齿轮啮合模型,对模型进行接触区网格细化,通过计算不同相位的齿轮啮合刚度,得到一个啮合周期的齿轮时变啮合刚度。分析不同扭矩条件下的时变啮合刚度变化,为行星齿轮动力学研究提供精确的参数。综合考虑构件支撑刚度、啮合刚度、阻尼、啮合综合误差等因素,利用集中参数法分别建立复合行星齿轮传动系统中不同传动形式的平移—扭转耦合动力学模型。基于模块化思想,建立通用的四级模块,通过集成各级模块生成复合行星齿轮传动系统的非线性动力学微分方程组。基于模块化思想,对复合行星齿轮传动系统固有特性进行研究。将传动系统质量矩阵和刚度矩阵按照传动形式分为三个模块。编写具有通用性的固有特性计算程序,并以空间机械臂关节用复合行星传动系统为例,计算其固有频率和振动矢量,并分析固有频率的参数敏感度。分析复合行星齿轮传动系统的动力学特性,使用数值积分法求解传动系统的动态响应,基于MATLAB的GUI模块设计应用于机械臂用复合行星齿轮传动系统的模块化动力学仿真平台。该传动系统模块化动力学仿真平台集动力学模型建立和动力学特性计算于一体,并以复合行星齿轮传动系统为例验证仿真平台的适用性。
[Abstract]:With the development of aerospace technology, it is required to improve the stability and safety of space manipulator, which puts forward higher requirements for the joint system of space manipulator. Planetary gear transmission system is one of the widely used transmission systems in modern times. Because of its advantages of large bearing capacity, high reliability, compact structure, large transmission ratio and long life, it is used in many kinds of large space mechanical arm joint equipments with long life cycle. In this paper, the dynamic characteristics of composite planetary gear transmission system are studied to provide guidance for the design of mechanical arm joints with excellent dynamic performance. In order to carry out dynamic analysis of transmission system, meshing stiffness should be considered. In this paper, the time-varying meshing stiffness of gear is studied, and the accurate tooth profile curve is deduced based on the principle of gear machining with rack cutting tool. A gear meshing model with accurate tooth profile is established. The contact area mesh of the model is refined, and the meshing stiffness of gears with different phases is calculated. The time-varying meshing stiffness of gears with a meshing period is obtained. The variation of time-varying meshing stiffness under different torque conditions is analyzed to provide precise parameters for the study of planetary gear dynamics. By using the lumped parameter method, the translation torsion coupling dynamic models of different transmission forms in the composite planetary gear transmission system are established by using the meshing synthetic error and other factors. Based on the idea of modularization, a general four-level module is established. The nonlinear dynamic differential equations of composite planetary gear transmission system are generated by integrating all levels of modules. The inherent characteristics of composite planetary gear transmission system are studied. The mass matrix and stiffness matrix of transmission system are divided into three modules according to the transmission form. Taking the composite planetary transmission system for space manipulator as an example, the natural frequency and vibration vector are calculated, and the parameter sensitivity of the natural frequency is analyzed, and the dynamic characteristics of the composite planetary gear transmission system are analyzed. The numerical integration method is used to solve the dynamic response of the transmission system. The design of the GUI module based on MATLAB is applied to the modular dynamic simulation platform of the composite planetary gear transmission system for the manipulator. The modular dynamic simulation platform of the transmission system integrates the establishment of the dynamic model and the calculation of the dynamic characteristics. The applicability of the simulation platform is verified by taking the composite planetary gear transmission system as an example.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH132.425

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