应用于空间机械臂的行星减速器设计与研究

发布时间：2018-04-12 11:08

本文选题：空间机械臂 + 行星减速器　；参考：《哈尔滨工业大学》2011年硕士论文

【摘要】：随着空间在轨服务的发展,空间站及航天飞机上越来越多的工作需要航天人员来完成。由于空间作业危险性比较高,人员直接操作不方便,需要采用空间机械臂辅助完成,其中最具有代表性的空间机械臂就是安装在美国空间站上的加拿大臂。空间机械臂关节减速器是完成运动传递及臂杆连接的主要装置,加拿大臂等空间机械臂的关节主要采用了行星和谐波这两种减速器。本文主要根据空间机械臂的低速、轻质的特点,对应用于机械臂关节的行星减速器进行了设计与研究。根据空间机械臂减速器大传动比、小质量的技术要求,本文对减速器的形式进行了分析与选择,确定行星减速器的齿轮参数及行星轮个数,并对行星减速器的结构进行了设计。采用三维建模软件建立减速器的模型,同时应用虚拟样机技术对设计的行星减速器进行相应的运动仿真,并且对设计的行星减速器样机进行加工。根据空间机械臂承载能力的要求,对行星减速器的承载能力进行校核计算,以分析得到的减速器的功率流情况为基础,根据行星轮系效率的三种常见的计算方法,进行行星减速器的效率计算。搭建了减速器性能测试所需的实验台,对减速器进行了跑和、加载、效率测试的实验,将测得的实验数据与理论研究的结果进行比较,并对误差产生的原因进行了分析。
[Abstract]:With the development of space-in-orbit service, more and more work on space station and space shuttle needs spaceflight personnel to complete.Because of the high risk of space operation and the inconvenient direct operation of personnel, it is necessary to use the space robot arm to complete it. The most representative space manipulator is the Canadian arm installed on the US space station.The space manipulator joint reducer is the main device to complete the motion transfer and the link of the arm rod. The joint of the Canadian arm and the other space mechanical arm mainly adopts the planetary and harmonic reducers.According to the characteristics of low speed and light weight of space manipulator, the design and research of planetary reducer applied to manipulator joint are carried out in this paper.According to the technical requirements of large transmission ratio and small mass of space manipulator reducer, the form of reducer is analyzed and selected in this paper, the gear parameters and the number of planetary gears of planetary reducer are determined, and the structure of planetary reducer is designed.The model of the reducer is established by using 3D modeling software. At the same time, the corresponding motion simulation of the designed planetary reducer is carried out by using the virtual prototyping technology, and the prototype of the designed planetary reducer is processed.According to the requirements of space manipulator bearing capacity, the bearing capacity of planetary reducer is checked and calculated. Based on the analysis of the power flow of the reducer, three common calculation methods of planetary gear train efficiency are presented.Calculate the efficiency of planetary reducer.The experimental platform needed for the performance test of the reducer is set up. The experiment of running and loading and testing the efficiency of the reducer is carried out. The measured experimental data are compared with the results of the theoretical research, and the causes of the errors are analyzed.
【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】：2011
【分类号】：TH132.46

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