基于瞬心线的谐波传动3C齿形设计与分析

发布时间：2018-02-08 20:57

本文关键词： 瞬心线谐波传动柔轮应力空间齿廓设计准则　出处：《大连理工大学》2012年硕士论文　论文类型：学位论文

【摘要】：课题源于国家自然科学基金项目“谐波齿轮传动弹性运动几何学及其齿形设计方法研究”(No.50975038),基于谐波齿轮传动课题组前人较成熟的研究成果之上提出了一种新齿形,建立了谐波传动柔轮杯体结构的参数设计准则,同时对这种齿廓进行运动学仿真。通过有限元分析软件Abaqus对谐波减速器工作的过程进行了动态仿真,从仿真结果中可以得到柔轮上中性层节点在负载情况下的位移,并对其进行了傅立叶拟合,从而得到了负载时的瞬心线,同时根据瞬心线的畸变规律对柔轮齿形进行了改进及性能评价。首先,本文提出一种齿形和柔轮结构参数的设计准则,并且在给定刚轮齿廓的前提下,基于瞬心线的基本啮合理论,通过解共轭方程和坐标转换得出与刚轮齿廓对应的柔轮齿廓；编制MATLAB GUI界面,方便了柔轮结构参数和齿形参数的输入,模拟了共轭过程的运动学仿真并通过干涉校验来确定和改进齿形参数,实现了谐波传动共轭齿形求解及啮合性能参数的可视化输出,进而方便了对初始参数的修改和人机互动。其次,运用Abaqus软件建立出了杯形柔轮谐波传动的有限元模型,并采用Abaqus自带的通用型隐式算法ABAQUS/Standard对波发生器装入柔轮杯体的过程进行了模拟仿真,从结果文件中可以得到柔轮薄壁中性层节点在空载情况下的周向、径向以及转角位移,同时与理论位移进行了对比分析。利用Abaqus中适合计算瞬态分析的显式算法ABAQUS/Explicit对加载运转时的谐波齿轮传动过程进行了动态仿真,在此基础上对柔轮负载时的变形规律进行了分析,用Matlab里的cftool工具箱上的Fourier方程对此变形规律进行拟合,进而得到瞬心线的畸变规律,并在此基础上对柔轮齿廓进行改进,同时研究改进后的齿形特性。参考圆弧齿和摆线齿形的性能优点,设计出一种啮合性能较好的3C齿形,其齿廓由两圆弧(Circle)和一条摆线(Cycloid)组成,并用Matlab对其进行了运动学仿真。通过ABAQUS对3C齿形谐波齿轮传动过程的动态仿真,结果表明这种齿廓在空载和负载两种情况下的瞬心线比较稳定,并且.啮合性能明显优于渐开线,突显了3C齿形的优越性。本文在谐波齿轮传动的结构参数设计原则以及齿形啮合性能的评价方面的研究方法和结论,对谐波传动的疲劳寿命和啮合性能等相关领域的研究有着十分重要的实用价值与意义。
[Abstract]:The subject originates from the project of National Natural Science Foundation of China, "study on the Geometry of Elastic Motion of Harmonic Gear Transmission and its Tooth shape Design method" No. 50975038A new tooth shape is proposed based on the more mature research results of the former predecessors of the harmonic gear transmission research group. The parameter design criterion of harmonic drive flexible wheel cup structure is established, and the kinematics simulation of the tooth profile is carried out. The dynamic simulation of harmonic reducer is carried out by the finite element analysis software Abaqus. From the simulation results, the displacement of the neutral layer node on the flexible wheel under load condition can be obtained, and the Fourier fitting is carried out to obtain the instantaneous center line of the load. At the same time, according to the distortion law of the instantaneous center line, the tooth profile of the flexible wheel is improved and its performance is evaluated. First of all, this paper presents a design criterion of tooth shape and flexible wheel structure parameters, and based on the basic meshing theory of instantaneous center line, given the tooth profile of rigid wheel. By solving the conjugate equation and coordinate transformation, the tooth profile corresponding to the tooth profile of the rigid wheel is obtained, and the interface of MATLAB GUI is compiled to facilitate the input of the structural parameters and tooth profile parameters of the flexure wheel. The kinematics simulation of conjugate process is simulated and the tooth profile parameters are determined and improved by interference check. The conjugate tooth profile of harmonic drive and the visual output of meshing performance parameters are realized, and the modification of initial parameters and man-machine interaction are facilitated. Secondly, the finite element model of cup flexible wheel harmonic transmission is established by using Abaqus software, and the process of loading the wave generator into the flexible wheel cup is simulated by using Abaqus's general implicit algorithm ABAQUS/Standard. From the result file, the circumferential, radial and angular displacements of the thin-walled neutral layer nodes in the flexible wheel under no-load conditions can be obtained. At the same time, compared with the theoretical displacement, the dynamic simulation of the harmonic gear transmission process is carried out by using the explicit algorithm ABAQUS/Explicit, which is suitable for calculating the transient analysis in Abaqus. On this basis, the deformation law of flexible wheel under load is analyzed, the deformation law is fitted by Fourier equation in cftool toolbox of Matlab, and the distortion law of instantaneous center line is obtained, and the tooth profile of flexure wheel is improved. At the same time, the improved tooth profile is studied. Referring to the performance advantages of circular arc tooth and cycloid tooth, a kind of 3C tooth profile with good meshing performance is designed. The tooth profile is composed of two circular arcs Circleand a cycloid. Through the dynamic simulation of 3C harmonic gear transmission process by ABAQUS, the results show that the instantaneous center line of this kind of tooth profile is stable under the condition of no-load and load. Moreover, the meshing performance is obviously superior to involute, which highlights the superiority of 3C tooth profile. In this paper, the research methods and conclusions on the design principle of structural parameters of harmonic gear transmission and the evaluation of tooth profile meshing performance are presented. It is of great value and significance to study the fatigue life and meshing performance of harmonic transmission.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH132.43

【引证文献】