本文選題：仿真平臺(tái)　切入點(diǎn)：多級(jí)行星傳動(dòng)　出處：《哈爾濱工業(yè)大學(xué)》2012年碩士論文　論文類型：學(xué)位論文

【摘要】：行星傳動(dòng)系統(tǒng)具有體積小、質(zhì)量輕、結(jié)構(gòu)緊湊、承載能力強(qiáng)等優(yōu)點(diǎn)，廣泛應(yīng)用于機(jī)械、航空、航天、汽車、艦船等領(lǐng)域。由于行星傳動(dòng)系統(tǒng)的振動(dòng)和噪聲是影響系統(tǒng)可靠性、壽命和工作環(huán)境的關(guān)鍵因素，所以國(guó)內(nèi)外學(xué)者對(duì)行星傳動(dòng)系統(tǒng)的動(dòng)力學(xué)特性進(jìn)行了較多研究。目前國(guó)內(nèi)外針對(duì)單級(jí)行星傳動(dòng)系統(tǒng)的動(dòng)力學(xué)研究已經(jīng)比較成熟，但針對(duì)多級(jí)行星傳動(dòng)系統(tǒng)的動(dòng)力學(xué)研究卻不多見。然而在工程實(shí)際應(yīng)用中，行星傳動(dòng)系統(tǒng)多采用多級(jí)或者復(fù)合傳動(dòng)�？臻g機(jī)械臂關(guān)節(jié)多采用多級(jí)行星傳動(dòng)，對(duì)其進(jìn)行動(dòng)力學(xué)仿真計(jì)算分析，為設(shè)計(jì)出具有優(yōu)良動(dòng)力學(xué)特性的機(jī)械臂關(guān)節(jié)提供指導(dǎo)。 綜合考慮嚙合剛度、阻尼、摩擦、齒側(cè)間隙和行星輪軸軸承支撐剛度等因素，利用集中參數(shù)法建立了多級(jí)行星傳動(dòng)系統(tǒng)的修正扭轉(zhuǎn)模型�；诖四Ｐ褪褂媚K化方法，建立了四級(jí)模塊模型，，通過集成四級(jí)模塊生成多級(jí)行星傳動(dòng)系統(tǒng)的非線性動(dòng)力學(xué)微分方程組。 基于模塊化思想，對(duì)多級(jí)行星傳動(dòng)系統(tǒng)固有特性進(jìn)行了研究。將質(zhì)量矩陣和剛度矩陣分別分為三個(gè)模塊，分別是行星架模塊、太陽(yáng)輪模塊和行星輪模塊。編寫了計(jì)算固有特性的通用程序，并以空間機(jī)械臂關(guān)節(jié)用四級(jí)2K-H行星傳動(dòng)系統(tǒng)為例，計(jì)算了其固有頻率和振動(dòng)矢量，得到了多級(jí)行星傳動(dòng)系統(tǒng)的三種振動(dòng)模態(tài)。并對(duì)其固有頻率的參數(shù)敏感度進(jìn)行了分析。 對(duì)多級(jí)行星傳動(dòng)系統(tǒng)的動(dòng)力學(xué)特性進(jìn)行了分析。使用數(shù)值積分法求解傳動(dòng)系統(tǒng)的動(dòng)態(tài)響應(yīng)，將模塊化建模模型與整體建模模型計(jì)算的動(dòng)態(tài)響應(yīng)結(jié)果進(jìn)行對(duì)比，驗(yàn)證了模塊化建模模型的適用性和有效性。 通過多級(jí)行星傳動(dòng)系統(tǒng)動(dòng)力學(xué)模型建立、固有特性和動(dòng)態(tài)響應(yīng)模塊化計(jì)算分析，繪制了機(jī)械臂用多級(jí)行星傳動(dòng)系統(tǒng)模塊化動(dòng)力學(xué)仿真平臺(tái)的邏輯流程圖，用MATLAB軟件設(shè)計(jì)了應(yīng)用于機(jī)械臂用多級(jí)行星傳動(dòng)系統(tǒng)模塊化動(dòng)力學(xué)仿真平臺(tái)。該傳動(dòng)系統(tǒng)模塊化動(dòng)力學(xué)仿真平臺(tái)集動(dòng)力學(xué)模型建立和動(dòng)力學(xué)特性計(jì)算于一體，并以四級(jí)2K-H行星傳動(dòng)系統(tǒng)為例驗(yàn)證了仿真平臺(tái)的適用性和可行性。
[Abstract]:The planetary transmission system has the advantages of small volume, light weight, compact structure and strong bearing capacity. It is widely used in the fields of machinery, aviation, aerospace, automobile, ship, etc. The vibration and noise of the planetary transmission system affect the reliability of the system. Because of the key factors of life and working environment, scholars at home and abroad have done more research on the dynamic characteristics of planetary transmission system. At present, the research on dynamics of single-stage planetary transmission system has been mature at home and abroad. However, in engineering practice, multistage or composite transmission is used in planetary transmission system, and multistage planetary transmission is used in space manipulator joints. The dynamic simulation and analysis are carried out to provide guidance for the design of mechanical arm joints with excellent dynamic characteristics. Considering the factors of meshing stiffness, damping, friction, tooth side clearance and bearing support stiffness of planetary wheel shaft, a modified torsion model of multistage planetary transmission system is established by means of lumped parameter method. Based on this model, modularization method is used. The four-level module model is established, and the nonlinear dynamic differential equations of multi-stage planetary transmission system are generated by integrating the four-level module. Based on modularization theory, the inherent characteristics of multistage planetary transmission system are studied. The mass matrix and stiffness matrix are divided into three modules, which are planetary frame module. The universal program for calculating the inherent characteristics of the solar and planetary wheel modules is developed. The natural frequency and vibration vector are calculated by taking the four-stage 2K-H planetary transmission system for the space manipulator joint as an example. Three vibration modes of multistage planetary transmission system are obtained, and the sensitivity of the parameters of the natural frequency is analyzed. The dynamic characteristics of the multistage planetary transmission system are analyzed. The dynamic response of the transmission system is solved by numerical integration method, and the dynamic response results calculated by the modular modeling model and the global modeling model are compared. The applicability and validity of the modular modeling model are verified. By establishing the dynamic model of multistage planetary transmission system and analyzing the inherent characteristics and dynamic response modularization calculation and analysis, the logic flow chart of the modularized dynamic simulation platform of multistage planetary transmission system for manipulator is drawn. A modularized dynamic simulation platform for multistage planetary transmission system used in manipulator is designed by using MATLAB software. The modular dynamic simulation platform of the transmission system integrates dynamic model establishment and dynamic characteristic calculation. The applicability and feasibility of the simulation platform are verified by taking the four stage 2K-H planetary transmission system as an example.
【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】：2012
【分類號(hào)】：TH132.41

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