發(fā)布時(shí)間：2018-05-11 04:04

  本文選題：短杯柔輪 + 柔性軸承��； 參考：《哈爾濱工業(yè)大學(xué)》2016年碩士論文

【摘要】：諧波減速器具有體積小、傳動(dòng)精度高、傳動(dòng)比大等優(yōu)點(diǎn),在空間航天機(jī)構(gòu)、工業(yè)機(jī)器人等領(lǐng)域應(yīng)用廣泛。短杯柔輪諧波減速器體積較小,結(jié)構(gòu)較緊湊,但柔輪筒長(zhǎng)減小會(huì)帶來(lái)應(yīng)力急劇上升等問(wèn)題。因此,本文以短杯柔輪諧波減速器為研究對(duì)象,針對(duì)其中容易破壞的關(guān)鍵零件,對(duì)柔輪和柔性軸承展開(kāi)研究。目前,針對(duì)典型輪廓凸輪作用下柔性軸承及柔輪的研究尚且不多。本文對(duì)于凸輪輪廓及其結(jié)構(gòu)參數(shù)的選取、柔性軸承與柔輪分別在典型輪廓凸輪作用下以及典型工況下的力學(xué)特性研究具有一定的參考價(jià)值。通過(guò)有限元方法,比較了有齒柔輪與無(wú)齒簡(jiǎn)化柔輪在應(yīng)力與變形規(guī)律方面的差異。針對(duì)不同形式的波發(fā)生器,分析了柔輪分別在二力作用、四力作用以及柔輪分別與橢圓輪廓凸輪、雙偏心圓弧輪廓凸輪波發(fā)生器裝配后的變形與應(yīng)力分布規(guī)律,并研究了凸輪關(guān)鍵結(jié)構(gòu)參數(shù)對(duì)柔輪的影響。針對(duì)不同工況,對(duì)波發(fā)生器中的柔性軸承展開(kāi)接觸分析。分析了柔性軸承在普通軸承工況下,不同方向集中作用力對(duì)軸承應(yīng)力分布的影響。分析了柔性軸承分別與橢圓輪廓凸輪、雙偏心圓弧輪廓凸輪裝配后的變形與應(yīng)力分布情況,并研究了凸輪關(guān)鍵結(jié)構(gòu)參數(shù)對(duì)柔性軸承的影響。采用Block Lanczos算法分析了柔輪的自由模態(tài)及預(yù)應(yīng)力下的模態(tài)。在柔輪靜力學(xué)分析模型的基礎(chǔ)上,基于LS-DYNA對(duì)柔輪進(jìn)行了瞬態(tài)動(dòng)力學(xué)分析。針對(duì)柔輪固定和柔輪運(yùn)動(dòng)兩種典型工況,分別研究在橢圓輪廓凸輪與雙偏心圓弧輪廓凸輪作用下,柔輪的運(yùn)動(dòng)規(guī)律以及應(yīng)力變化特性。在柔性軸承靜力學(xué)分析模型的基礎(chǔ)上,建立保持架模型,采用MPC算法分析了柔性軸承的自由模態(tài),基于LS-DYNA對(duì)柔性軸承進(jìn)行了瞬態(tài)動(dòng)力學(xué)分析。在相同工況條件下,分析了內(nèi)圈未變形時(shí)柔性軸承的動(dòng)態(tài)特性,分別研究了內(nèi)圈變形為橢圓輪廓與雙偏心圓弧輪廓后柔性軸承的動(dòng)態(tài)特性,比較了不同變形后,柔性軸承中各元件在運(yùn)動(dòng)以及應(yīng)力變化規(guī)律方面的異同。
[Abstract]:Harmonic reducer has many advantages, such as small volume, high transmission precision and large transmission ratio. It is widely used in space agencies, industrial robots and other fields. The harmonic reducer of short cup flexo wheel is small in size and compact in structure, but the decrease of the length of flexible wheel tube will bring about the sharp rise of stress and so on. Therefore, in this paper, the harmonic reducer of short cup flexure wheel is taken as the research object, aiming at the key parts which are easy to destroy, the flexible bearing and flexure wheel are studied. At present, there are few researches on flexible bearings and flexible wheels under the action of typical profile cam. This paper has a certain reference value for the selection of cam contour and its structural parameters, the study of the mechanical properties of flexible bearing and flexure wheel under the action of typical contour cam and under typical working condition respectively. The difference of stress and deformation between toothed flexure wheel and toothless simplified flexure wheel is compared by finite element method. According to different forms of wave generator, the deformation and stress distribution of flexible wheel in two force action, four force action and two eccentric circular arc cam wave generator after assembly are analyzed respectively, and the deformation and stress distribution of flexible wheel and elliptical contour cam and double eccentric arc cam wave generator are analyzed respectively. The influence of the key structure parameters of the cam on the flexible wheel is also studied. According to different working conditions, the contact analysis of flexible bearings in wave generator is carried out. The influence of different direction concentrated forces on the stress distribution of flexible bearing under normal bearing condition is analyzed. The deformation and stress distribution of flexible bearing, elliptic cam and double eccentric arc cam after assembly are analyzed, and the influence of key structure parameters of cam on flexible bearing is studied. The free mode and prestressing mode of flexible wheel are analyzed by Block Lanczos algorithm. Based on the static analysis model of flexible wheel, transient dynamics analysis of flexible wheel is carried out based on LS-DYNA. Aiming at two typical working conditions of flexible wheel fixed and flexible wheel motion, the motion law and stress change characteristics of flexible wheel under the action of elliptical cam and double eccentric arc cam are studied respectively. Based on the static analysis model of flexible bearing, the cage model is established, the free mode of flexible bearing is analyzed by MPC algorithm, and the transient dynamic analysis of flexible bearing is carried out based on LS-DYNA. Under the same working condition, the dynamic characteristics of flexible bearing with inner ring undeformed are analyzed. The dynamic characteristics of flexible bearing with inner ring deformed to elliptical contour and double eccentric arc contour are studied, and the dynamic characteristics of flexible bearing with different deformation are compared. The differences and similarities between the components in flexible bearings in motion and stress variation.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：TH133.3
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本文編號(hào)：1872319