多级行星传动系统模块化动力学仿真平台设计

发布时间：2018-03-09 04:29

本文选题：仿真平台　切入点：多级行星传动　出处：《哈尔滨工业大学》2012年硕士论文　论文类型：学位论文

【摘要】：行星传动系统具有体积小、质量轻、结构紧凑、承载能力强等优点，广泛应用于机械、航空、航天、汽车、舰船等领域。由于行星传动系统的振动和噪声是影响系统可靠性、寿命和工作环境的关键因素，所以国内外学者对行星传动系统的动力学特性进行了较多研究。目前国内外针对单级行星传动系统的动力学研究已经比较成熟，但针对多级行星传动系统的动力学研究却不多见。然而在工程实际应用中，行星传动系统多采用多级或者复合传动。空间机械臂关节多采用多级行星传动，对其进行动力学仿真计算分析，为设计出具有优良动力学特性的机械臂关节提供指导。综合考虑啮合刚度、阻尼、摩擦、齿侧间隙和行星轮轴轴承支撑刚度等因素，利用集中参数法建立了多级行星传动系统的修正扭转模型。基于此模型使用模块化方法，建立了四级模块模型，，通过集成四级模块生成多级行星传动系统的非线性动力学微分方程组。基于模块化思想，对多级行星传动系统固有特性进行了研究。将质量矩阵和刚度矩阵分别分为三个模块，分别是行星架模块、太阳轮模块和行星轮模块。编写了计算固有特性的通用程序，并以空间机械臂关节用四级2K-H行星传动系统为例，计算了其固有频率和振动矢量，得到了多级行星传动系统的三种振动模态。并对其固有频率的参数敏感度进行了分析。对多级行星传动系统的动力学特性进行了分析。使用数值积分法求解传动系统的动态响应，将模块化建模模型与整体建模模型计算的动态响应结果进行对比，验证了模块化建模模型的适用性和有效性。通过多级行星传动系统动力学模型建立、固有特性和动态响应模块化计算分析，绘制了机械臂用多级行星传动系统模块化动力学仿真平台的逻辑流程图，用MATLAB软件设计了应用于机械臂用多级行星传动系统模块化动力学仿真平台。该传动系统模块化动力学仿真平台集动力学模型建立和动力学特性计算于一体，并以四级2K-H行星传动系统为例验证了仿真平台的适用性和可行性。
[Abstract]:The planetary transmission system has the advantages of small volume, light weight, compact structure and strong bearing capacity. It is widely used in the fields of machinery, aviation, aerospace, automobile, ship, etc. The vibration and noise of the planetary transmission system affect the reliability of the system. Because of the key factors of life and working environment, scholars at home and abroad have done more research on the dynamic characteristics of planetary transmission system. At present, the research on dynamics of single-stage planetary transmission system has been mature at home and abroad. However, in engineering practice, multistage or composite transmission is used in planetary transmission system, and multistage planetary transmission is used in space manipulator joints. The dynamic simulation and analysis are carried out to provide guidance for the design of mechanical arm joints with excellent dynamic characteristics. Considering the factors of meshing stiffness, damping, friction, tooth side clearance and bearing support stiffness of planetary wheel shaft, a modified torsion model of multistage planetary transmission system is established by means of lumped parameter method. Based on this model, modularization method is used. The four-level module model is established, and the nonlinear dynamic differential equations of multi-stage planetary transmission system are generated by integrating the four-level module. Based on modularization theory, the inherent characteristics of multistage planetary transmission system are studied. The mass matrix and stiffness matrix are divided into three modules, which are planetary frame module. The universal program for calculating the inherent characteristics of the solar and planetary wheel modules is developed. The natural frequency and vibration vector are calculated by taking the four-stage 2K-H planetary transmission system for the space manipulator joint as an example. Three vibration modes of multistage planetary transmission system are obtained, and the sensitivity of the parameters of the natural frequency is analyzed. The dynamic characteristics of the multistage planetary transmission system are analyzed. The dynamic response of the transmission system is solved by numerical integration method, and the dynamic response results calculated by the modular modeling model and the global modeling model are compared. The applicability and validity of the modular modeling model are verified. By establishing the dynamic model of multistage planetary transmission system and analyzing the inherent characteristics and dynamic response modularization calculation and analysis, the logic flow chart of the modularized dynamic simulation platform of multistage planetary transmission system for manipulator is drawn. A modularized dynamic simulation platform for multistage planetary transmission system used in manipulator is designed by using MATLAB software. The modular dynamic simulation platform of the transmission system integrates dynamic model establishment and dynamic characteristic calculation. The applicability and feasibility of the simulation platform are verified by taking the four stage 2K-H planetary transmission system as an example.
【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】：2012
【分类号】：TH132.41

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