长距离钢带精密摩擦传动机理与实验研究

发布时间：2018-03-30 17:15

本文选题：钢带　切入点：长距离　出处：《杭州电子科技大学》2012年硕士论文

【摘要】：钢带与普通带相比,具有弹性模量高、弹性变形小、可实现较大力矩的精密传动等优点。钢带精密传动在机器人、精密光学仪器等领域的短距离传动中得到了较广泛的应用,但在长距离传动中应用较少,尤其是基于摩擦传动机理的长距离精密传动,其理论研究和实验论证均缺少。因此,对钢带在长距离上实现精密摩擦传动的理论、仿真及实验研究具有十分重要的科学价值与工程意义。本文从钢带传动过程中的刚柔耦合特性出发,主要运用多体系统动力学分析软件和钢带长距离传动专用实验台,进行了长距离钢带传动系统的动力学建模、仿真分析及实验等研究工作。基于刚柔耦合接触理论,建立了带轮刚体动力学模型、钢带可变形体动力学模型、及带轮-钢带的刚柔耦合动力学模型等理论模型。从理论上对钢带传动的载荷、应力、滑动率特性、张紧力特性及传动精度等方面进行了全面分析,得到了根据穿透深度判断钢带与带轮是否跑偏等结果。在理论模型及理论分析结果的基础上,运用RecurDyn多体系统动力学软件建立了中心距为3m的钢带摩擦传动动力学仿真模型；仿真分析了传动过程中的张紧力、滑动率、传动精度、应力分布及跑偏等特性,研究表明,钢带在长距离摩擦传动上,可实现精密传动,且承载力与预紧力、带轮结构有一定关系。根据仿真结果和实验需要,研制了专用实验台的传动测试系统,包括：磁粉制动器式从动轮加载装置、称重传感器的测量与张紧调节装置、光电编码器的主／从动轮精密测速装置和应变片的钢带变形检测装置等。实验研究了系统的传动性能,包括：在有效传动条件下钢带所需最小预紧力与负载之间的关系、钢带跑偏、传动精度等测试实验。分析了实测结果,并将其与仿真结果进行对比,进一步更准确地修正了仿真模型。通过实验,初步得到了钢带实现长距离精密摩擦传动的必要条件——张紧力与负载曲线,同时也验证了软件仿真和实验具有较高的可靠性。本文的研究成果,有利于长距离精密摩擦传动的深入研究与实验验证,也为钢带长距离精密摩擦传动的应用提供很好的理论和实验指导。
[Abstract]:Compared with conventional belt, steel strip has the advantages of high elastic modulus, small elastic deformation, large torque precision transmission and so on. The steel strip precision transmission has been widely used in the field of robot, precision optical instrument and so on. However, there are few applications in long distance transmission, especially the long distance precision transmission based on friction transmission mechanism, which is lack of theoretical research and experimental proof. Therefore, the theory of precision friction transmission for steel belt on long distance is discussed. Simulation and experimental research have very important scientific value and engineering significance. Based on the rigid-flexible coupling characteristics in the process of steel belt transmission, the dynamic modeling of the long distance steel belt transmission system is carried out by using the multi-body system dynamics analysis software and the special experiment platform for long distance transmission of steel strip. Research work such as simulation analysis and experiment. Based on the theory of rigid-flexible coupling contact, the dynamic model of rigid body with wheel, the dynamic model of variable body of steel strip, and the dynamic model of rigid-flexible coupling of steel belt with wheel and strip are established. The characteristics of slip rate, tension force and transmission accuracy are analyzed comprehensively, and the results are obtained to judge whether the steel belt and the belt wheel run off according to the penetration depth. On the basis of theoretical model and theoretical analysis results, the dynamic simulation model of steel belt friction transmission with center distance of 3m is established by using RecurDyn multi-body system dynamics software, and the tension force, slip rate and transmission precision in transmission process are simulated and analyzed. The characteristics of stress distribution and running deviation show that the steel belt can realize precision transmission on the long distance friction transmission, and the bearing capacity is related to the preload and the structure of the belt wheel. According to the result of simulation and the need of experiment, the transmission and test system of the special test bench is developed, which includes: the magnetic powder brake loading device from the driving wheel, the measuring and tightening adjusting device of the weighing sensor. The main / slave precision speed measuring device of photoelectric encoder and the steel strip deformation detecting device of strain gauge, etc. The transmission performance of the system is studied experimentally, including: the relation between the minimum preload and the load of the steel belt under the effective transmission condition, The test results of steel strip deviation and transmission accuracy are analyzed, and compared with the simulation results, the simulation model is further corrected more accurately. The necessary condition of long distance precision friction transmission is obtained, which is the tension force and load curve, and the reliability of software simulation and experiment is also verified. The research results of this paper are beneficial to the deep research and experimental verification of long distance precision friction transmission, and also provide good theoretical and experimental guidance for the application of long distance precision friction transmission of steel strip.
【学位授予单位】：杭州电子科技大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH132.32

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