本文關(guān)鍵詞：諧波減速器的結(jié)構(gòu)力學(xué)分析　出處：《國(guó)防科學(xué)技術(shù)大學(xué)》2011年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 諧波減速器 有限元分析 工作狀態(tài) 抖振

【摘要】：某大功率電動(dòng)伺服裝置采用諧波減速器傳動(dòng)機(jī)構(gòu)(以下簡(jiǎn)稱減速器),在研制過(guò)程中,當(dāng)某些負(fù)載具有較大的轉(zhuǎn)動(dòng)慣量、進(jìn)行動(dòng)態(tài)響應(yīng)測(cè)試時(shí),出現(xiàn)了不收斂(亦稱較大噪聲,即輸出軸抖動(dòng))的現(xiàn)象。本文以此為背景,利用商業(yè)軟件對(duì)減速器進(jìn)行有限元建模,對(duì)減速器結(jié)構(gòu)各部件進(jìn)行整體剛度分析、模態(tài)分析,同時(shí)對(duì)減速器整體進(jìn)行動(dòng)響應(yīng)分析及工作情況下的響應(yīng)分析,最后通過(guò)驗(yàn)證,確認(rèn)是由于減速器齒輪間的間隙增加導(dǎo)致出現(xiàn)抖振問(wèn)題,為減速器的結(jié)構(gòu)設(shè)計(jì)、工程制造提供參考。 首先,本文根據(jù)諧波減速器的有限元模型,對(duì)其在力矩載荷作用下各部件結(jié)構(gòu)的應(yīng)力、應(yīng)變及位移進(jìn)行了計(jì)算,得出最大變形為輸出軸的彈性變形。由于柔輪受到的載荷較為復(fù)雜,本文對(duì)柔輪進(jìn)行靜力分析時(shí)將其載荷進(jìn)行了一定的簡(jiǎn)化。 其次,本文對(duì)諧波減速器進(jìn)行模態(tài)分析,判斷出減速器的結(jié)構(gòu)有無(wú)薄弱環(huán)節(jié),進(jìn)而避開(kāi)其固有頻率以免產(chǎn)生共振。從模態(tài)分析結(jié)果分析,減速器的最低諧振頻率為476Hz,小于2000Hz的振型主要是減速器整體繞X和Z軸的扭轉(zhuǎn)振型。 最后,在減速器動(dòng)力學(xué)分析中,主要分析了減速器在簡(jiǎn)諧和隨機(jī)激勵(lì)下結(jié)構(gòu)關(guān)鍵點(diǎn)的動(dòng)響應(yīng)、減速器在工作狀態(tài)下滿足角度輸出情況下關(guān)鍵點(diǎn)的響應(yīng)情況。分析結(jié)果表明,在無(wú)間隙情況下,關(guān)鍵點(diǎn)的動(dòng)響應(yīng)會(huì)存在較小的振蕩,在有間隙情況下,關(guān)鍵點(diǎn)的動(dòng)響應(yīng)的振蕩較大,且振蕩衰減的時(shí)間較長(zhǎng),說(shuō)明在諧波減速器工作中可能會(huì)出現(xiàn)抖振等不良情況。最后通過(guò)試驗(yàn)證明,說(shuō)明減速器的抖振現(xiàn)象是減速器齒輪的間隙過(guò)大。 本論文通過(guò)對(duì)諧波齒輪傳動(dòng)減速器進(jìn)行有限元分析,找到了間隙的存在是減速器出現(xiàn)抖振現(xiàn)象的根本原因,文中做的研究對(duì)其他類(lèi)型的減速器設(shè)計(jì)和分析亦具有參考作用。
[Abstract]:A high power electric servo device adopts the drive mechanism of harmonic reducer (hereinafter referred to as reducer). In the process of development, when some loads have larger moment of inertia, the dynamic response is tested. In this paper, the finite element model of the reducer is built by commercial software, and the whole stiffness of the structural components of the reducer is analyzed. Modal analysis, at the same time the whole reducer dynamic response analysis and response analysis under the working conditions, finally through verification, confirmed that the increase in gear clearance caused by the reducer buffeting problem. It provides reference for structural design and engineering manufacture of reducer. Firstly, according to the finite element model of harmonic reducer, the stress, strain and displacement of each component structure under torque load are calculated. It is concluded that the maximum deformation is the elastic deformation of the output shaft. Due to the complexity of the load on the flexible wheel, this paper simplifies the load of the flexible wheel in static analysis. Secondly, the modal analysis of harmonic reducer is carried out to determine whether there are weak links in the structure of the reducer, and then avoid its natural frequency to avoid resonance. The lowest resonant frequency of the reducer is 476 Hz, and the vibration mode less than 2000Hz is mainly the torsional mode of the reducer around X and Z axis. Finally, in the dynamic analysis of the reducer, the dynamic response of the structural key point of the reducer under the simple harmonic and random excitation is mainly analyzed. The analysis results show that the dynamic response of the key point in the case of no clearance will have a small oscillation, and in the case of a gap, the response of the key point will have a small oscillation. The oscillation of the dynamic response of the key points is large and the oscillation attenuation time is longer, which indicates that buffeting may occur in the operation of the harmonic reducer. Finally, it is proved by the experiment. It shows that the chattering phenomenon of the reducer is that the clearance of the gear is too large. Through the finite element analysis of harmonic gear reducer, it is found that the existence of clearance is the fundamental reason for the chattering phenomenon of the reducer. The research in this paper can also be used as a reference for the design and analysis of other types of reducers.
【學(xué)位授予單位】：國(guó)防科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類(lèi)號(hào)】：TH132.46

【引證文獻(xiàn)】

相關(guān)期刊論文 前2條

1 楊勝林;張露;楊濤;趙三星;;一種離心開(kāi)關(guān)裝置的工作行為分析與研究[J];機(jī)械工程與自動(dòng)化;2014年05期

2 楊勝林;張露;楊淑琳;楊濤;趙三星;;推力調(diào)節(jié)伺服機(jī)構(gòu)設(shè)計(jì)及承載能力分析研究[J];機(jī)電技術(shù);2014年03期

相關(guān)碩士學(xué)位論文 前7條

1 李學(xué)平;ROV水下作業(yè)培訓(xùn)系統(tǒng)七功能機(jī)械手臂的設(shè)計(jì)與仿真[D];天津理工大學(xué);2017年

2 李莉;典型輪廓凸輪作用下柔輪與柔性軸承力學(xué)特性分析[D];哈爾濱工業(yè)大學(xué);2016年

3 李奇;不同參數(shù)對(duì)諧波減速器柔輪動(dòng)態(tài)特性的影響[D];重慶大學(xué);2016年

4 張興敢;五軸加工機(jī)床設(shè)計(jì)及仿真[D];青島理工大學(xué);2015年

5 譚海東;仿人機(jī)器人行走系統(tǒng)結(jié)構(gòu)設(shè)計(jì)與優(yōu)化[D];長(zhǎng)春工業(yè)大學(xué);2015年

6 嚴(yán)鋒;具有復(fù)合材料層的諧波減速器動(dòng)力學(xué)特性研究[D];重慶大學(xué);2013年

7 李聚峰;制導(dǎo)飛行器舵機(jī)控制系統(tǒng)軟件設(shè)計(jì)[D];西安工業(yè)大學(xué);2013年

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本文編號(hào)：1413419