谐波齿轮结构动力学建模研究

发布时间：2019-02-26 15:05

【摘要】：随着现代工业与科学技术的高速发展，机械结构系统中的振动问题也日益突出，良好的结构动态性能已成为产品开发设计中重要的优化指标，利用动态设计方法取代传统的静态设计已成为机械结构设计的必然发展趋势。谐波齿轮传动是建立在薄壳弹性变形理论基础上的一种新型传动模式，该传动模式在航天领域得到了广泛应用。由于航天任务的高可靠性要求，必须提前确定航天任务环境下谐波齿轮传动的固有频率和固有振形。如果仅靠实验获取齿轮传动固有特性数据，将大大增加型号研制的时间成本和资金成本。为了有效解决上述问题，本文通过分析谐波齿轮结构，建立柔轮和波发生器组件的动力学模型，利用理论分析降低实验测试的成本。首先，分析了某型机器人的谐波齿轮减速器的原理，将经典接触理论引入谐波齿轮减速器动力学建模，，在对刚轮和柔轮接触状态进行分析的基础上，建立了谐波减速器的动力学有限元模型，对该减速器的固有频率和固有振形进行了计算，得到了理论条件下的频率及振形数据。其次，采用SignalCalc430Dynamic Signal Analyzer（动态信号分析仪）和ME'Scope模态测试软件，用移动力锤激振，三个传感器固定输出的方法，进行了谐波齿轮减速器的模态试验，通过实际测试得到了减速器的固有频率及振形。最后，对理论建模与试验测试的结果进行对比分析。分析结果表明，通过理论建模计算得到的频率及振形数据与实际测试数据一致，验证了谐波齿轮减速器动力学建模方法的正确性。本文采用的基于接触理论的动力学建模方法，较好解决了建立谐波齿轮减速器的动力学模型问题，对进一步研究谐波齿轮传动的动态特性，如动态精度、动态刚度、动态结构修改和动态结构优化具有一定的参考价值。
[Abstract]:With the rapid development of modern industry and science and technology, the vibration problem in mechanical structure system is becoming more and more prominent. Good dynamic performance of structure has become an important optimization index in product development and design. Using dynamic design method to replace traditional static design has become an inevitable development trend of mechanical structure design. Harmonic gear transmission is a new type of transmission mode based on elastic deformation theory of thin shell, which has been widely used in aerospace field. Due to the high reliability requirement of space mission, the natural frequency and natural vibration shape of harmonic gear transmission in space mission environment must be determined in advance. If the inherent characteristic data of gear transmission are obtained only by experiment, the time cost and capital cost of the model development will be greatly increased. In order to solve the above problems effectively, the dynamic model of flexible wheel and wave generator assembly is established by analyzing the harmonic gear structure, and the cost of experimental test is reduced by theoretical analysis. Firstly, the principle of the harmonic gear reducer of a robot is analyzed, and the classical contact theory is introduced into the dynamic modeling of the harmonic gear reducer. On the basis of the analysis of the contact state of the rigid wheel and the flexible wheel, the contact state of the rigid wheel and the flexible wheel is analyzed. The dynamic finite element model of harmonic reducer is established. The natural frequency and natural vibration shape of the reducer are calculated and the frequency and vibration data under theoretical conditions are obtained. Secondly, the modal test of harmonic gear reducer is carried out by means of dynamic signal analyzer (SignalCalc430Dynamic Signal Analyzer () and ME'Scope modal test software, and by means of moving hammer excitation and fixed output of three sensors, the modal test of harmonic gear reducer is carried out. The natural frequency and vibration shape of the reducer are obtained by practical testing. Finally, the theoretical modeling and test results are compared and analyzed. The analysis results show that the frequency and vibration data obtained from the theoretical modeling calculation are consistent with the actual test data, and the correctness of the dynamic modeling method for harmonic gear reducer is verified. In this paper, the dynamic modeling method based on contact theory is adopted to solve the problem of establishing the dynamic model of harmonic gear reducer. The dynamic characteristics of harmonic gear drive, such as dynamic precision and dynamic stiffness, are further studied. Dynamic structural modification and dynamic structural optimization have certain reference value.
【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】：2012
【分类号】：TH132.43

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