【摘要】：機(jī)電集成電磁諧波活齒傳動(dòng)系統(tǒng)集傳動(dòng)、驅(qū)動(dòng)和控制于一體,可以實(shí)現(xiàn)諧波傳動(dòng)技術(shù)、電磁驅(qū)動(dòng)技術(shù)、活齒傳動(dòng)技術(shù)和控制技術(shù)的有機(jī)結(jié)合,是一種新型機(jī)電集成廣義復(fù)合傳動(dòng)裝置。該傳動(dòng)系統(tǒng)中沒(méi)有高速旋轉(zhuǎn)的部件,慣性力小,可以獲得更快的響應(yīng)速度,能夠?qū)崿F(xiàn)大減速比運(yùn)動(dòng)傳遞和低速大扭矩的動(dòng)力輸出。本文運(yùn)用電磁學(xué)原理研究了氣隙磁場(chǎng)隨柔輪變形的變化規(guī)律,引入氣隙形狀因子,針對(duì)磁路飽和及未飽和兩種情況分別給出了形狀因子的計(jì)算公式,進(jìn)行了等效氣隙分析,給出了氣隙磁通密度和柔輪單位面積上電磁力的計(jì)算公式。根據(jù)圓柱殼體非脹大變形理論,將電磁諧波活齒傳動(dòng)系統(tǒng)中的關(guān)鍵零件——柔輪簡(jiǎn)化為圓柱薄殼,建立了電磁力作用下柔輪的受力分析模型,推導(dǎo)出柔輪在電磁力作用下的位移表達(dá)式,揭示了柔輪位移隨系統(tǒng)參數(shù)的變化規(guī)律。根據(jù)彈性力學(xué)原理,建立了電磁諧波活齒傳動(dòng)系統(tǒng)的受力分析模型,對(duì)傳動(dòng)過(guò)程中各零件的受力進(jìn)行了分析,在此基礎(chǔ)上推導(dǎo)出系統(tǒng)輸出力矩公式,與摩擦式電磁諧波傳動(dòng)的輸出力矩進(jìn)行了對(duì)比,分析了系統(tǒng)參數(shù)對(duì)輸出力矩的影響規(guī)律。結(jié)果表明:電磁諧波活齒傳動(dòng)系統(tǒng)的輸出力矩大約是摩擦式電磁諧波傳動(dòng)的輸出力矩的7倍。運(yùn)用機(jī)械振動(dòng)理論,建立了電磁諧波活齒傳動(dòng)系統(tǒng)的機(jī)電耦合動(dòng)力學(xué)方程,推導(dǎo)出系統(tǒng)自由振動(dòng)的頻率方程和模態(tài)函數(shù)表達(dá)式,對(duì)徑向激勵(lì)和切向激勵(lì)作用下系統(tǒng)的頻響函數(shù)進(jìn)行了求解,分析了機(jī)電參數(shù)對(duì)系統(tǒng)自由振動(dòng)和受迫振動(dòng)的影響規(guī)律。研究了電磁諧波活齒傳動(dòng)系統(tǒng)柔輪發(fā)生偏心時(shí)系統(tǒng)的振動(dòng)特性。給出了系統(tǒng)偏心狀態(tài)下的電磁力表達(dá)式,推導(dǎo)出偏心狀態(tài)下傳動(dòng)系統(tǒng)中柔輪的模態(tài)函數(shù)公式,分析了系統(tǒng)機(jī)電參數(shù)變化對(duì)偏心柔輪的自由振動(dòng)和受迫響應(yīng)的影響規(guī)律,對(duì)有無(wú)偏心時(shí)柔輪的固有頻率和振動(dòng)模態(tài)進(jìn)行了對(duì)比分析。完成了樣機(jī)的參數(shù)設(shè)計(jì)、加工和振動(dòng)特性測(cè)試。應(yīng)用ANSYS Workbench有限元分析軟件對(duì)傳動(dòng)系統(tǒng)中柔輪的變形和振動(dòng)模態(tài)進(jìn)行了仿真分析,對(duì)樣機(jī)進(jìn)行了固有頻率測(cè)試,對(duì)比了仿真、實(shí)驗(yàn)和理論計(jì)算結(jié)果;仿真結(jié)果與理論值最大誤差為10.18%,實(shí)驗(yàn)結(jié)果與理論值最大誤差為16.57%;實(shí)驗(yàn)、仿真和理論值基本一致,驗(yàn)證了理論分析的正確性。
[Abstract]:The electromechanical integrated electromagnetic harmonic movable tooth drive system integrates transmission, drive and control. It can realize the organic combination of harmonic transmission technology, electromagnetic drive technology, movable tooth drive technology and control technology. It is a new type of electromechanical integrated generalized compound transmission device. There are no high-speed rotating components in the transmission system, so the inertial force is small, the response speed can be obtained faster, and the large deceleration ratio motion transfer and the power output of low speed and large torque can be realized. In this paper, the variation law of air gap magnetic field with flexible wheel deformation is studied by means of electromagnetic principle. The air gap shape factor is introduced, and the calculation formulas of the shape factor are given for the two cases of magnetic circuit saturation and unsaturation respectively, and the equivalent air gap analysis is carried out. The formulas for calculating the flux density of air gap and the electromagnetic force per unit area of flexible wheel are given. According to the theory of non-flatulence deformation of cylindrical shell, the key component of electromagnetic harmonic movable tooth transmission system-flexure wheel is simplified into a thin cylindrical shell, and the force analysis model of flexwheel under the action of electromagnetic force is established. The displacement expression of flexible wheel under the action of electromagnetic force is deduced, and the variation rule of flexible wheel displacement with system parameters is revealed. According to the principle of elastic mechanics, the force analysis model of electromagnetic harmonic movable tooth transmission system is established, and the force of each part in the transmission process is analyzed. On this basis, the output torque formula of the system is deduced. Compared with the output torque of the friction electromagnetic harmonic drive, the influence of system parameters on the output torque is analyzed. The results show that the output torque of electromagnetic harmonic movable tooth transmission system is about 7 times of that of friction electromagnetic harmonic transmission system. Based on the theory of mechanical vibration, the electromechanical coupling dynamic equation of electromagnetic harmonic movable tooth transmission system is established, and the frequency equation and modal function expression of the free vibration of the system are derived. The frequency response function of the system under radial and tangential excitation is solved, and the influence of mechanical and electrical parameters on the free and forced vibration of the system is analyzed. The vibration characteristics of flexible wheel with eccentricity in electromagnetic harmonic movable tooth drive system are studied. The expression of electromagnetic force in eccentricity of the system is given, the formula of modal function of flexible wheel in eccentric state is deduced, and the influence of the change of mechanical and electrical parameters of the system on the free vibration and forced response of eccentric flexure wheel is analyzed. The natural frequency and vibration mode of flexible wheel with or without eccentricity are compared and analyzed. The parameters design, machining and vibration characteristic test of the prototype are completed. The deformation and vibration modes of flexible wheel in transmission system are simulated and analyzed by ANSYS Workbench finite element analysis software. The natural frequency of the prototype is tested, and the results of simulation, experiment and theoretical calculation are compared. The maximum error between the simulation results and the theoretical values is 10.18 and the maximum error between the experimental results and the theoretical values is 16.57.The experimental, simulation and theoretical values are basically consistent with each other, which verifies the correctness of the theoretical analysis.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TH132.41

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