谐波齿轮传动柔轮变形特性研究

发布时间：2018-08-29 17:09

【摘要】：谐波减速器是一种结构紧凑、传动效率高的精密减速传动装置,在航空航天领域中得到广泛应用。谐波减速器传动过程中存在柔轮弹性变形、波发生器的激励效应以及柔轮、刚轮非线性啮合接触等问题,严重影响了减速器的动力学性能和传动精度。目前,谐波传动过程中柔轮变形、非线性啮合接触等方面的研究还不完善。为此,本文采用有限元方法分析了柔轮的变形特性,设计了一种柔轮径向变形测试装置监测柔轮的变形量,证明了柔轮径向变形对谐波传动影响较大。(1)研究影响谐波传动过程中传动精度的关键因素。谐波传动过程中,结构柔性会影响谐波齿轮传动的每一环节,而柔轮是谐波减速器中柔性变形最大的部件,所以柔轮的变形特性对谐波齿轮的传动精度至关重要。本文从理论角度分析了柔轮的变形机理以及疲劳特性。(2)采用ANSYS Workbench软件对柔轮模型进行有限元仿真分析,研究柔轮在初始装配情况下的变形规律和应力分布特性。详细分析了不同材料对柔轮动态特性的影响,并进行了柔轮模态分析,获得了柔轮的振型和固有频率。研究发现玻璃纤维增强环氧树脂基复合材料和30CrMnSiNiA的每阶固有频率近似相等,而碳纤维增强环氧树脂基复合材料的每阶固有频率是它们每阶的2倍。此结论为后续柔轮制造中材料的选择提供了理论依据。(3)基于柔轮的变形特性,设计了实验平台。研究了柔轮幅值形变量与速度的关系,分析了柔轮轴向位置在速度和载荷条件下径向位移的变化规律。此外,还采用极坐标的形式展现了微观状态下柔轮旋转一周的径向位移。结果表明:柔轮幅值形变量随转速的增大而增大,在0.4r/min时达到最大值,之后,曲线呈线性递减趋势变化;
[Abstract]:Harmonic reducer is a kind of precise deceleration gear with compact structure and high transmission efficiency, which is widely used in the field of aerospace. The elastic deformation of flexible wheel the excitation effect of wave generator and nonlinear meshing contact of flexible wheel and rigid wheel in the transmission process of harmonic reducer have seriously affected the dynamic performance and transmission accuracy of the reducer. At present, the research of flexible wheel deformation and nonlinear meshing contact in harmonic transmission is not perfect. In this paper, finite element method is used to analyze the deformation characteristics of flexible wheel, and a radial deformation testing device is designed to monitor the deformation of flexible wheel. It is proved that radial deformation of flexible wheel has great influence on harmonic transmission. (1) the key factors affecting transmission accuracy in harmonic transmission are studied. In the process of harmonic transmission, structural flexibility will affect every link of harmonic gear transmission, and flexible wheel is the most deformed component in harmonic reducer, so the deformation characteristic of flexible wheel is very important to the transmission accuracy of harmonic gear. In this paper, the deformation mechanism and fatigue characteristics of flexible wheel are analyzed theoretically. (2) finite element simulation analysis of flexible wheel model is carried out by using ANSYS Workbench software, and the deformation law and stress distribution characteristics of flexible wheel under initial assembly are studied. The influence of different materials on the dynamic characteristics of flexible wheel is analyzed in detail, and the modal analysis of flexible wheel is carried out, and the mode shape and natural frequency of flexible wheel are obtained. It is found that the natural frequencies of glass fiber reinforced epoxy matrix composites are approximately equal to those of 30CrMnSiNiA, while that of carbon fiber reinforced epoxy matrix composites is twice that of each order. This conclusion provides a theoretical basis for the selection of materials in the subsequent flexure wheel manufacturing. (3) based on the deformation characteristics of the flexure wheel, an experimental platform is designed. The relationship between the flexible wheel amplitude and the velocity is studied, and the radial displacement of the flexure wheel under the condition of velocity and load is analyzed. In addition, the radial displacement of the flexwheel rotation is shown in the form of polar coordinates. The results show that the amplitude of flexible wheel increases with the increase of rotational speed and reaches the maximum value at 0.4r/min, and then the curve changes linearly.
【学位授予单位】：中国地质大学(北京)
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH132.43

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