典型轮廓凸轮作用下柔轮与柔性轴承力学特性分析

发布时间：2018-05-11 04:04

  本文选题：短杯柔轮 + 柔性轴承　； 参考：《哈尔滨工业大学》2016年硕士论文

【摘要】：谐波减速器具有体积小、传动精度高、传动比大等优点,在空间航天机构、工业机器人等领域应用广泛。短杯柔轮谐波减速器体积较小,结构较紧凑,但柔轮筒长减小会带来应力急剧上升等问题。因此,本文以短杯柔轮谐波减速器为研究对象,针对其中容易破坏的关键零件,对柔轮和柔性轴承展开研究。目前,针对典型轮廓凸轮作用下柔性轴承及柔轮的研究尚且不多。本文对于凸轮轮廓及其结构参数的选取、柔性轴承与柔轮分别在典型轮廓凸轮作用下以及典型工况下的力学特性研究具有一定的参考价值。通过有限元方法,比较了有齿柔轮与无齿简化柔轮在应力与变形规律方面的差异。针对不同形式的波发生器,分析了柔轮分别在二力作用、四力作用以及柔轮分别与椭圆轮廓凸轮、双偏心圆弧轮廓凸轮波发生器装配后的变形与应力分布规律,并研究了凸轮关键结构参数对柔轮的影响。针对不同工况,对波发生器中的柔性轴承展开接触分析。分析了柔性轴承在普通轴承工况下,不同方向集中作用力对轴承应力分布的影响。分析了柔性轴承分别与椭圆轮廓凸轮、双偏心圆弧轮廓凸轮装配后的变形与应力分布情况,并研究了凸轮关键结构参数对柔性轴承的影响。采用Block Lanczos算法分析了柔轮的自由模态及预应力下的模态。在柔轮静力学分析模型的基础上,基于LS-DYNA对柔轮进行了瞬态动力学分析。针对柔轮固定和柔轮运动两种典型工况,分别研究在椭圆轮廓凸轮与双偏心圆弧轮廓凸轮作用下,柔轮的运动规律以及应力变化特性。在柔性轴承静力学分析模型的基础上,建立保持架模型,采用MPC算法分析了柔性轴承的自由模态,基于LS-DYNA对柔性轴承进行了瞬态动力学分析。在相同工况条件下,分析了内圈未变形时柔性轴承的动态特性,分别研究了内圈变形为椭圆轮廓与双偏心圆弧轮廓后柔性轴承的动态特性,比较了不同变形后,柔性轴承中各元件在运动以及应力变化规律方面的异同。
[Abstract]:Harmonic reducer has many advantages, such as small volume, high transmission precision and large transmission ratio. It is widely used in space agencies, industrial robots and other fields. The harmonic reducer of short cup flexo wheel is small in size and compact in structure, but the decrease of the length of flexible wheel tube will bring about the sharp rise of stress and so on. Therefore, in this paper, the harmonic reducer of short cup flexure wheel is taken as the research object, aiming at the key parts which are easy to destroy, the flexible bearing and flexure wheel are studied. At present, there are few researches on flexible bearings and flexible wheels under the action of typical profile cam. This paper has a certain reference value for the selection of cam contour and its structural parameters, the study of the mechanical properties of flexible bearing and flexure wheel under the action of typical contour cam and under typical working condition respectively. The difference of stress and deformation between toothed flexure wheel and toothless simplified flexure wheel is compared by finite element method. According to different forms of wave generator, the deformation and stress distribution of flexible wheel in two force action, four force action and two eccentric circular arc cam wave generator after assembly are analyzed respectively, and the deformation and stress distribution of flexible wheel and elliptical contour cam and double eccentric arc cam wave generator are analyzed respectively. The influence of the key structure parameters of the cam on the flexible wheel is also studied. According to different working conditions, the contact analysis of flexible bearings in wave generator is carried out. The influence of different direction concentrated forces on the stress distribution of flexible bearing under normal bearing condition is analyzed. The deformation and stress distribution of flexible bearing, elliptic cam and double eccentric arc cam after assembly are analyzed, and the influence of key structure parameters of cam on flexible bearing is studied. The free mode and prestressing mode of flexible wheel are analyzed by Block Lanczos algorithm. Based on the static analysis model of flexible wheel, transient dynamics analysis of flexible wheel is carried out based on LS-DYNA. Aiming at two typical working conditions of flexible wheel fixed and flexible wheel motion, the motion law and stress change characteristics of flexible wheel under the action of elliptical cam and double eccentric arc cam are studied respectively. Based on the static analysis model of flexible bearing, the cage model is established, the free mode of flexible bearing is analyzed by MPC algorithm, and the transient dynamic analysis of flexible bearing is carried out based on LS-DYNA. Under the same working condition, the dynamic characteristics of flexible bearing with inner ring undeformed are analyzed. The dynamic characteristics of flexible bearing with inner ring deformed to elliptical contour and double eccentric arc contour are studied, and the dynamic characteristics of flexible bearing with different deformation are compared. The differences and similarities between the components in flexible bearings in motion and stress variation.
【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】：2016
【分类号】：TH133.3
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本文编号：1872319