本文關(guān)鍵詞：諧波減速器柔輪仿真分析及結(jié)構(gòu)優(yōu)化　出處：《哈爾濱商業(yè)大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 諧波減速器 并聯(lián)機(jī)器人 柔輪 仿真分析 優(yōu)化設(shè)計(jì)

【摘要】：諧波減速器因?yàn)榫哂谐休d能力大、傳動(dòng)精度高、減速比大、傳動(dòng)平穩(wěn)等優(yōu)點(diǎn)被廣泛應(yīng)用在機(jī)器人領(lǐng)域,作為諧波減速器主要傳動(dòng)構(gòu)件,柔輪的特性直接影響著諧波減速器的工作狀態(tài)。論文以諧波減速器柔輪為研究對(duì)象,采用有限元分析、動(dòng)力學(xué)仿真以及參數(shù)優(yōu)化等方法,對(duì)柔輪動(dòng)態(tài)與靜態(tài)特性進(jìn)行深入研究,并對(duì)柔輪結(jié)構(gòu)進(jìn)行優(yōu)化,以提高諧波減速器傳動(dòng)特性。 根據(jù)諧波齒輪傳動(dòng)嚙合原理,建立了剛輪固定,波發(fā)生器作為主動(dòng)輸入,柔輪作為被動(dòng)輸出情況下的數(shù)學(xué)模型,獲得了波發(fā)生器與柔輪之間的轉(zhuǎn)化矩陣,得到二者之間的相對(duì)運(yùn)動(dòng)方程,為柔輪進(jìn)一步分析提供理論基礎(chǔ)。 諧波減速器橢圓形凸輪波發(fā)生器的結(jié)構(gòu),使得波發(fā)生器裝入柔輪后,柔輪產(chǎn)生應(yīng)力變形,直接影響諧波傳動(dòng)性能及使用壽命。采用Ansysworkbench軟件建立柔輪仿真模型,分析得到了柔輪應(yīng)力、應(yīng)變及總體變形分布情況,并獲得了柔輪前八階模態(tài)特性。結(jié)果表明柔輪在橢圓形凸輪波發(fā)生器長(zhǎng)軸頂點(diǎn)處所受應(yīng)力最大,并沿軸向方向逐漸減小,這為柔輪結(jié)構(gòu)優(yōu)化提供了理論依據(jù)。 基于并聯(lián)機(jī)器人單支鏈?zhǔn)芰Ψ治銮闆r,確定了諧波減速器最大嚙合受力狀態(tài),采用ADAMS對(duì)并聯(lián)機(jī)器人擺動(dòng)過(guò)程中柔輪與剛輪的嚙合力進(jìn)行探索,仿真分析柔輪在該嚙合力作用下的變形情況,并分別研究了筒體長(zhǎng)度、齒圈寬度、筒體壁厚對(duì)柔輪變形的影響。結(jié)果表明,在并聯(lián)機(jī)器人擺動(dòng)過(guò)程中柔輪產(chǎn)生了更大程度的變形,并且柔輪總體變形隨著筒體長(zhǎng)度,齒圈寬度,筒體壁厚的增加而有所減小。 基于有限元分析及ADAMS分析所獲得的柔輪各項(xiàng)參數(shù)指標(biāo),根據(jù)四自由度并聯(lián)機(jī)器人實(shí)際工作情況對(duì)柔輪進(jìn)行優(yōu)化設(shè)計(jì)。在優(yōu)化過(guò)程中以獲得最小側(cè)隙、最大承載能力、最小體積為目標(biāo),運(yùn)用Matlab進(jìn)行運(yùn)算,求取設(shè)計(jì)變量最優(yōu)值,并對(duì)柔輪結(jié)構(gòu)進(jìn)行改進(jìn)。對(duì)改進(jìn)優(yōu)化后的柔輪進(jìn)行仿真,結(jié)果表明優(yōu)化后的柔輪具有更好的性能,結(jié)構(gòu)尺寸更加合理,相同作用力下總體變形有所減小,固有頻率有所增加,可更好地滿足并聯(lián)機(jī)器人的工作需求。
[Abstract]:Harmonic reducer is widely used in the field of robot because of its high bearing capacity, high transmission precision, large deceleration ratio and stable transmission. It is used as the main transmission component of harmonic reducer. The characteristics of flexible wheel directly affect the working state of harmonic reducer. This paper takes the flexible wheel of harmonic reducer as the research object, adopts finite element analysis, dynamic simulation and parameter optimization methods. The dynamic and static characteristics of flexible wheel are studied, and the structure of flexible wheel is optimized to improve the transmission characteristics of harmonic reducer. According to the meshing principle of harmonic gear transmission, the mathematical model of rigid wheel fixing, wave generator as active input and flexwheel as passive output is established, and the transformation matrix between wave generator and flexible wheel is obtained. The relative equation of motion between the two is obtained, which provides a theoretical basis for further analysis of flexible wheel. The structure of the elliptical cam wave generator of harmonic reducer causes the wave generator to be loaded into the flexible wheel and the flexible wheel produces stress and deformation. The harmonic transmission performance and service life are directly affected. The simulation model of flexible wheel is established by using Ansysworkbench software, and the distribution of stress, strain and total deformation of flexure wheel is analyzed. The results show that the stress of the flexwheel at the top of the long axis of the elliptical cam wave generator is the largest and gradually decreases along the axial direction, which provides a theoretical basis for the structural optimization of the flexible wheel. Based on the stress analysis of the single branch chain of the parallel robot, the maximum meshing force state of the harmonic reducer is determined, and the engagement force between the flexible wheel and the rigid wheel during the swinging process of the parallel robot is explored by ADAMS. The deformation of flexible wheel under the meshing force is analyzed by simulation, and the effects of cylinder length, ring width and wall thickness on the deformation of flexible wheel are studied respectively. During the swinging of the parallel robot, the flexible wheel produces more deformation, and the overall deformation of the flexible wheel decreases with the increase of the length of the cylinder, the width of the gear ring, and the thickness of the wall of the cylinder. Based on the parameters of flexible wheel obtained by finite element analysis and ADAMS analysis, this paper optimizes the design of flexible wheel according to the actual working conditions of the four-degree-of-freedom parallel robot. In the process of optimization, the minimum clearance is obtained. The maximum bearing capacity and minimum volume are taken as the target. The optimum value of the design variable is obtained by using Matlab, and the structure of the flexure wheel is improved. The improved flexure wheel is simulated. The results show that the optimized flexible wheel has better performance, more reasonable structure size, reduced overall deformation and increased natural frequency under the same force, which can better meet the needs of the parallel robot.
【學(xué)位授予單位】：哈爾濱商業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TH132.46

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