谐波减速器的结构力学分析

发布时间：2018-01-12 08:14

本文关键词：谐波减速器的结构力学分析　出处：《国防科学技术大学》2011年硕士论文　论文类型：学位论文

【摘要】：某大功率电动伺服装置采用谐波减速器传动机构(以下简称减速器),在研制过程中,当某些负载具有较大的转动惯量、进行动态响应测试时,出现了不收敛(亦称较大噪声,即输出轴抖动)的现象。本文以此为背景,利用商业软件对减速器进行有限元建模,对减速器结构各部件进行整体刚度分析、模态分析,同时对减速器整体进行动响应分析及工作情况下的响应分析,最后通过验证,确认是由于减速器齿轮间的间隙增加导致出现抖振问题,为减速器的结构设计、工程制造提供参考。首先,本文根据谐波减速器的有限元模型,对其在力矩载荷作用下各部件结构的应力、应变及位移进行了计算,得出最大变形为输出轴的弹性变形。由于柔轮受到的载荷较为复杂,本文对柔轮进行静力分析时将其载荷进行了一定的简化。其次,本文对谐波减速器进行模态分析,判断出减速器的结构有无薄弱环节,进而避开其固有频率以免产生共振。从模态分析结果分析,减速器的最低谐振频率为476Hz,小于2000Hz的振型主要是减速器整体绕X和Z轴的扭转振型。最后,在减速器动力学分析中,主要分析了减速器在简谐和随机激励下结构关键点的动响应、减速器在工作状态下满足角度输出情况下关键点的响应情况。分析结果表明,在无间隙情况下,关键点的动响应会存在较小的振荡,在有间隙情况下,关键点的动响应的振荡较大,且振荡衰减的时间较长,说明在谐波减速器工作中可能会出现抖振等不良情况。最后通过试验证明,说明减速器的抖振现象是减速器齿轮的间隙过大。本论文通过对谐波齿轮传动减速器进行有限元分析,找到了间隙的存在是减速器出现抖振现象的根本原因,文中做的研究对其他类型的减速器设计和分析亦具有参考作用。
[Abstract]:A high power electric servo device adopts the drive mechanism of harmonic reducer (hereinafter referred to as reducer). In the process of development, when some loads have larger moment of inertia, the dynamic response is tested. In this paper, the finite element model of the reducer is built by commercial software, and the whole stiffness of the structural components of the reducer is analyzed. Modal analysis, at the same time the whole reducer dynamic response analysis and response analysis under the working conditions, finally through verification, confirmed that the increase in gear clearance caused by the reducer buffeting problem. It provides reference for structural design and engineering manufacture of reducer. Firstly, according to the finite element model of harmonic reducer, the stress, strain and displacement of each component structure under torque load are calculated. It is concluded that the maximum deformation is the elastic deformation of the output shaft. Due to the complexity of the load on the flexible wheel, this paper simplifies the load of the flexible wheel in static analysis. Secondly, the modal analysis of harmonic reducer is carried out to determine whether there are weak links in the structure of the reducer, and then avoid its natural frequency to avoid resonance. The lowest resonant frequency of the reducer is 476 Hz, and the vibration mode less than 2000Hz is mainly the torsional mode of the reducer around X and Z axis. Finally, in the dynamic analysis of the reducer, the dynamic response of the structural key point of the reducer under the simple harmonic and random excitation is mainly analyzed. The analysis results show that the dynamic response of the key point in the case of no clearance will have a small oscillation, and in the case of a gap, the response of the key point will have a small oscillation. The oscillation of the dynamic response of the key points is large and the oscillation attenuation time is longer, which indicates that buffeting may occur in the operation of the harmonic reducer. Finally, it is proved by the experiment. It shows that the chattering phenomenon of the reducer is that the clearance of the gear is too large. Through the finite element analysis of harmonic gear reducer, it is found that the existence of clearance is the fundamental reason for the chattering phenomenon of the reducer. The research in this paper can also be used as a reference for the design and analysis of other types of reducers.
【学位授予单位】：国防科学技术大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH132.46

【引证文献】