机器人柔性关节中谐波齿轮传动的分析和研究

发布时间：2018-06-29 13:48

本文选题：谐波齿轮传动 + 有限元分析　；参考：《山东大学》2015年硕士论文

【摘要】：谐波齿轮传动是机器人柔性关节中的常用的传动方式,具有体积小、重量轻、传动比大等一系列优点。然而,由于谐波减速机传递运动主要依靠柔轮的弹性变形,机器人关节柔性特征较为明显,关节刚度较低,运行过程易产生振动,末端精确定位难。因此,研究柔轮的刚度、载荷分布、疲劳寿命、模态参数等特性对于提高谐波传动系统的使用性能具有重要意义。本文在查阅相关资料的基础上,根据现有五自由度写字机器人,对机器人第四关节的谐波减速机进行了理论研究与仿真分析。(1)根据谐波传动的基本原理,在建立谐波齿轮传动的运动学模型的基础上,建立了柔轮与刚轮齿廓方程,并在此基础上对谐波传动进行运动学仿真。(2)利用matlab绘制了柔轮与刚轮的齿廓,并利用齿廓坐标计算和分析出齿侧间隙的分布；利用材料力学方法分析柔轮单齿在一定载荷下的变形量,据此计算出柔轮单齿的刚度；根据齿侧间隙分布与柔轮单齿刚度值,分析得到了轮齿间的啮合接触力的分布规律。(3)建立了谐波传动的有限元模型,仿真研究了空载时柔轮被挤压产生的弹性变形情况、最大等效应力分布以及疲劳寿命情况；分析了柔轮单齿在负载作用下的变形量,计算出单齿刚度并分析了应力应变的分布情况；分析了柔轮结构参数对变形量和等效应力的影响,在设计范围内选用较小的齿圈壁厚和筒体长度有利于减小变形量和等效应力；仿真分析得到了负载情况下柔轮的扭转刚度,对研究机器人的关节柔性有一定帮助。(4)采用有限元方法对谐波减速机进行了模态分析,得到柔轮的前12阶共振频率及振型；分析了负载变化对减速机模态的影响,负载时每一阶的共振频率比空载时略有增加,不同负载对减速机的共振频率影响不大。
[Abstract]:Harmonic gear transmission is a common transmission mode in robot flexible joints. It has a series of advantages, such as small volume, light weight, large transmission ratio and so on. However, the transmission motion of harmonic reducer mainly depends on the elastic deformation of the flexible wheel, the flexible characteristic of the robot joint is obvious, the stiffness of the joint is low, the vibration is easy to be produced in the running process, and it is difficult to locate the end accurately. Therefore, it is important to study the stiffness, load distribution, fatigue life and modal parameters of flexible wheel for improving the performance of harmonic transmission system. On the basis of consulting relevant data, this paper studies and simulates the harmonic reducer of the fourth joint of the robot according to the existing five-degree-of-freedom writing robot. (1) according to the basic principle of harmonic transmission, On the basis of establishing the kinematics model of harmonic gear transmission, the tooth profile equations of flexible wheel and rigid wheel are established, and then the kinematics simulation of harmonic transmission is carried out. (2) the tooth profile of flexible wheel and rigid wheel is drawn by using matlab. The profile coordinates are used to calculate and analyze the distribution of the tooth side clearance, the deformation of the single tooth of the flexible wheel under a certain load is analyzed by the method of material mechanics, and the stiffness of the single tooth of the flexible wheel is calculated according to the distribution of the tooth side clearance and the stiffness value of the single tooth of the flexible wheel. The distribution law of meshing contact force between gear teeth is obtained. (3) the finite element model of harmonic transmission is established, and the elastic deformation, maximum equivalent stress distribution and fatigue life of flexible wheel are simulated. In this paper, the deformation of single tooth of flexible wheel under load is analyzed, the stiffness of single tooth is calculated and the distribution of stress and strain is analyzed, and the influence of structural parameters of flexible wheel on deformation and equivalent stress is analyzed. The selection of small ring thickness and cylinder length in the design scope is beneficial to the reduction of deformation and equivalent stress, and the torsional stiffness of flexible wheel under load is obtained by simulation analysis. It is helpful to study the joint flexibility of robot. (4) the modal analysis of harmonic reducer is carried out by using finite element method, and the first 12 resonance frequencies and modes of flexible wheel are obtained, and the influence of load change on the mode of reducer is analyzed. The resonance frequency of each order is slightly higher than that of no-load, but the resonance frequency of reducer is not affected by different loads.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242;TH132.43

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