【摘要】：單側(cè)索驅(qū)輪系是一種以鋼索單側(cè)連接通過(guò)前輪牽引后輪進(jìn)行運(yùn)動(dòng)傳遞的裝置。鋼索與繩輪間的連接方式?jīng)Q定了單側(cè)索驅(qū)輪系在進(jìn)行較大力矩傳遞時(shí)不易產(chǎn)生打滑現(xiàn)象,從而可進(jìn)行較高運(yùn)動(dòng)精度的傳遞。然而,單側(cè)索驅(qū)輪系傳動(dòng)過(guò)程中的回轉(zhuǎn)誤差不為零,不可避免地會(huì)在輪系間產(chǎn)生傳動(dòng)誤差,從而影響其傳動(dòng)精度。對(duì)接機(jī)構(gòu)鎖系是由串聯(lián)單側(cè)索驅(qū)輪系組成的閉環(huán)傳動(dòng)裝置。鎖系運(yùn)動(dòng)同步性是航天器對(duì)接成功的關(guān)鍵技術(shù)之一,其主要靠串聯(lián)單側(cè)索驅(qū)輪系的裝配質(zhì)量來(lái)保證。由于在這方面缺少深入的理論研究,致使在對(duì)接機(jī)構(gòu)鎖系裝配中,面臨著裝配效率低及質(zhì)量難以保證的技術(shù)瓶頸。為此,本文針對(duì)串聯(lián)單側(cè)索驅(qū)輪系,從傳動(dòng)誤差建模及同步性預(yù)測(cè)兩方面展開研究。鋼索形變是影響串聯(lián)單側(cè)索驅(qū)輪系運(yùn)動(dòng)同步性的主要因素之一,其主要靠調(diào)節(jié)鋼索預(yù)緊力來(lái)控制。為預(yù)測(cè)預(yù)緊力作用下的鋼索形變,根據(jù)串聯(lián)單側(cè)索驅(qū)輪系預(yù)緊力施加方式,建立了描述其形變的輪系傳動(dòng)誤差預(yù)測(cè)模型。通過(guò)對(duì)傳動(dòng)誤差主要影響因素及參數(shù)敏感度對(duì)傳動(dòng)誤差控制影響的分析,為進(jìn)一步開展串聯(lián)單側(cè)索驅(qū)輪系運(yùn)動(dòng)同步性的研究奠定基礎(chǔ)。建立了單側(cè)索驅(qū)輪系工況下的鋼索蠕變修正模型。鋼索蠕變是索驅(qū)輪系精密傳動(dòng)研究中不可回避的一個(gè)重要間題。對(duì)于運(yùn)動(dòng)同步性要求較高的串聯(lián)單側(cè)索驅(qū)輪系,單側(cè)索驅(qū)輪系鋼索蠕變的累計(jì)效應(yīng)會(huì)明顯影響傳動(dòng)的精度,嚴(yán)重時(shí)甚至導(dǎo)致傳動(dòng)功能的失效。為預(yù)測(cè)預(yù)緊力作用下鋼索蠕變,考慮單側(cè)索驅(qū)輪系工況條件的影響,基于Norton-Bailey蠕變本構(gòu)模型建立了鋼索蠕變修正模型,并分析了繩輪轉(zhuǎn)角、預(yù)緊力和摩擦系數(shù)三因素的影響。根據(jù)單側(cè)索驅(qū)輪系驅(qū)動(dòng)順序,建立了描述其鋼索運(yùn)動(dòng)形變的傳動(dòng)誤差預(yù)測(cè)模型,并分析了繩輪包角上鋼索滑移和非滑移弧段對(duì)建模精度的影響。通過(guò)傳動(dòng)誤差實(shí)驗(yàn)數(shù)據(jù)的變化規(guī)律對(duì)上述兩弧段對(duì)應(yīng)的包角值進(jìn)行了界定,進(jìn)而修正了傳動(dòng)誤差預(yù)測(cè)模型。在此基礎(chǔ)上,建立了串聯(lián)單側(cè)索驅(qū)輪系運(yùn)動(dòng)同步性預(yù)測(cè)模型,分析了運(yùn)動(dòng)同步性影響因素,并對(duì)運(yùn)動(dòng)過(guò)程中鋼索張力變化規(guī)律及運(yùn)動(dòng)同步性誤差補(bǔ)償進(jìn)行了研究。開展了串聯(lián)單側(cè)索驅(qū)輪系同步性預(yù)測(cè)研究。裝配中影響串聯(lián)單側(cè)索驅(qū)輪系同步性的因素極其復(fù)雜,致使難以建立精確描述鋼索張力與形變(傳動(dòng)誤差)間關(guān)系的數(shù)學(xué)模型。為此,根據(jù)鋼索剛性傳動(dòng)條件及裝配時(shí)預(yù)緊力施加方式,提出了對(duì)稱分配數(shù)據(jù)法,將單側(cè)索驅(qū)輪系傳動(dòng)誤差轉(zhuǎn)換成對(duì)應(yīng)的轉(zhuǎn)角值對(duì)稱分配到串聯(lián)單側(cè)索驅(qū)輪系上增加數(shù)據(jù)樣本,開發(fā)了串聯(lián)單側(cè)索驅(qū)輪系同步性預(yù)測(cè)系統(tǒng)。利用該系統(tǒng)指導(dǎo)鎖系現(xiàn)場(chǎng)裝配,可提高其裝配效率。
[Abstract]:One-side cable-drive gear train is a device which is connected by one side of steel cable through front wheel traction and rear wheel. The connection between the cable and the rope wheel determines that the slip phenomenon is not easy to occur in the transmission of large torque of the one-side cable drive gear train, so that the transmission with higher motion precision can be carried out. However, the rotation error is not zero in the transmission process of one-side cable drive gear train, which will inevitably lead to transmission error between gear trains, thus affecting the transmission accuracy. The locking system of docking mechanism is a closed-loop transmission device composed of series single-side cable-drive gear train. The synchronization of locking motion is one of the key technologies for the successful docking of spacecraft, which is mainly guaranteed by the assembly quality of series single side cable drive gear trains. Due to the lack of deep theoretical research in this field, the locking assembly of docking mechanism is faced with the technical bottleneck of low assembly efficiency and difficult quality assurance. Therefore, in this paper, the transmission error modeling and synchronization prediction are studied for series single side cable drive gear trains. The deformation of steel cable is one of the main factors that influence the synchronism of series single side cable drive gear train, which is mainly controlled by adjusting the pretightening force of steel cable. In order to predict the deformation of steel cable under the action of pretightening force, a prediction model of transmission error of gear train is established according to the mode of pretightening force applied in series single side cable drive gear train. Through the analysis of the main influencing factors of transmission error and the influence of parameter sensitivity on the control of transmission error, this paper lays a foundation for further research on the kinematic synchronicity of single-side cable drive gear trains in series. The creep modification model of steel cable under the condition of single side cable drive gear train is established. The creep of steel cable is an important problem in the research of precise transmission of cable drive gear train. For the series single side cable drive gear train which requires high kinematic synchronicity, the accumulative effect of the cable creep of the single side cable drive gear train will obviously affect the transmission accuracy, and even lead to the failure of the transmission function. In order to predict the creep of steel cable under pretightening force, considering the influence of working conditions of one-side cable drive gear train, a modified model of cable creep is established based on Norton-Bailey creep constitutive model, and the effects of three factors, such as rotation angle of rope wheel, pretightening force and friction coefficient, are analyzed. According to the driving sequence of one-side cable drive gear train, a transmission error prediction model is established to describe the deformation of cable movement, and the influence of cable slip and non-slip arc on the modeling accuracy is analyzed. The envelope angle value corresponding to the above two arcs is defined by the changing law of the experimental data of transmission error, and the prediction model of transmission error is modified. On this basis, the prediction model of kinematic synchronicity of series single-side cable flooding gear train is established, and the influencing factors of motion synchronism are analyzed, and the variation law of cable tension and the compensation of synchronous error during the process of motion are studied. Research on synchronism prediction of series single side cable flooding gear train is carried out. The factors that affect the synchronicity of series single side cable drive gear trains in series are very complicated, which makes it difficult to establish a mathematical model to accurately describe the relationship between cable tension and deformation (transmission error). For this reason, according to the rigid transmission condition of steel cable and the way of pretightening force applied in assembly, a symmetrical distribution data method is put forward, in which the transmission error of single side cable drive gear train is converted into the corresponding rotation angle value symmetry distribution to add data sample to the series single side cable drive gear train. A series single side cable drive gear train synchronization prediction system is developed. The system can be used to guide lock-system assembly in situ, and its assembly efficiency can be improved.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TH132

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